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Kinematics and Dynamics Analysis and Preliminary Control Design of a Planar 3-DOF Parallel Mechanism Based on MATLAB/ADAMS

Bincheng Li

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Abstract

The kinematics and dynamics analysis of a planar 3-DOF parallel mechanism is conducted through MATLAB,and the calculation results are showed in a curve form.After that,through a simulation in ADAMS,the calculation results is validated with its accuracy,and the kinematic equations fitted from the data that MATLAB calculated are transplanted into ADAMS to simulate the control of this mechanism.Results from both methods have laid the foundation for the subsequent development of the control system.

About this research paper

What this paper is about

The kinematics and dynamics analysis of a planar 3-DOF parallel mechanism is conducted through MATLAB,and the calculation results are showed in a curve form.After that,through a simulation in ADAMS,the calculation results is validated with its accuracy,and the kinematic equations fitted from the data that MATLAB calculated are transplanted into ADAMS to simulate the control of this mechanism.Results from both methods have laid the foundation for the subsequent development of the control system.

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Method / approach

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Available abstract

The kinematics and dynamics analysis of a planar 3-DOF parallel mechanism is conducted through MATLAB,and the calculation results are showed in a curve form.After that,through a simulation in ADAMS,the calculation results is validated with its accuracy,and the kinematic equations fitted from the data that MATLAB calculated are transplanted into ADAMS to simulate the control of this mechanism.Results from both methods have laid the foundation for the subsequent development of the control system.

Key concepts: Kinematics, MATLAB, Mechanism (biology), Dynamics (music), Planar, Stewart platform, Computer science, Control theory (sociology)

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Kinematics and Dynamics Analysis and Preliminary Control Design of a Planar 3-DOF Parallel Mechanism Based on MATLAB/ADAMS — Research Paper | ScholarLens