2006•Machine Design and ResearchRequires access

Inverse Dynamics Analysis of A 3-RRRT Parallel Robot

Yanbin Liu, Han Xiu-ying

Abstract

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied.Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates.On the base of Kane's equation,dynamics model of the 3-RRRT parallel robot was built.Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software,and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

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Key concepts: Robot calibration, Parallel manipulator, Inverse kinematics, Generalized coordinates, Robot kinematics, Computer science, Robot, Kinematics