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2006•Jisuanji fangzhenRequires access

Dynamics Simulation of A 3-RRRT Parallel Robot

Han Xiu-ying

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Abstract

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was researched. On the base of the first Lagrange’s equation, kinematics and dynamics model of the 3-RRRT parallel robot were set up with it’s branch bar’s relative coordinates and movable platform’s absolute coordinates used as generalized coordinates. Kinematics and dynamics Numeric simulation of the 3-RRRT parallel robot was finished by use of Matlab software, and so it is very valuable reference to contrail plan and motion control design of the 3-RRRT parallel robot.

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What this paper is about

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was researched. On the base of the first Lagrange’s equation, kinematics and dynamics model of the 3-RRRT parallel robot were set up with it’s branch bar’s relative coordinates and movable platform’s absolute coordinates used as generalized coordinates. Kinematics and dynamics Numeric simulation of the 3-RRRT parallel robot was finished by use of Matlab software, and so it is very valuable reference to contrail plan and motion control design of the 3-RRRT parallel robot.

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Available abstract

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was researched. On the base of the first Lagrange’s equation, kinematics and dynamics model of the 3-RRRT parallel robot were set up with it’s branch bar’s relative coordinates and movable platform’s absolute coordinates used as generalized coordinates. Kinematics and dynamics Numeric simulation of the 3-RRRT parallel robot was finished by use of Matlab software, and so it is very valuable reference to contrail plan and motion control design of the 3-RRRT parallel robot.

Key concepts: Kinematics, Generalized coordinates, Robot kinematics, Kinematics equations, Parallel manipulator, Computer science, MATLAB, Robot

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