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Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench

Published online by Cambridge University Press:  22 June 2018

Yi Lu ,
Yang Liu ,
Lijie Zhang ,
Nijia Ye  and
Yongli Wang
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. of China Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei 066004, P.R. of China
Yang Liu
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. of China
Lijie Zhang
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. of China
Nijia Ye
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. of China
Yongli Wang
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P.R. of China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A three-dimensional (3D) model of a novel 5-DoF type parallel manipulator with a couple-constrained wrench is constructed and its couple-constrained wrench is analyzed. First, the formulas are derived for solving the displacement, velocity, acceleration of the moving platform and moving links, and a workspace is constructed. Second, the formulas are derived for solving the inertial wrenches of the moving links. Third, a dynamics equation is established by considering the inertial wrenches and friction, and the formulas are derived for solving the dynamically active forces and the dynamically couple-constrained wrench. Finally, a numerical example is given to demonstrate the analytic solution of the kinematics and the dynamics, and the analytical solutions are verified by utilizing a simulation mechanism.

Keywords

Parallel manipulatorCouple-constrained wrenchKinematicsDynamicsWorkspace
Type
Articles
Information
Robotica , Volume 36 , Issue 10 , October 2018 , pp. 1421 - 1435
Copyright
Copyright © Cambridge University Press 2018 

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