Abstract
6-DOF hydraulically driven parallel robot mainly consists of two systems: mechanical subsystem and hydraulic subsystem. These two subsystems can be modeled as multi-rigid body dynamics and hydraulic dynamics respectively. According to a bilateral coupling between the two subsystems, the integrated dynamic model of 6-DOF parallel robot is set up in operating-space. Through mapping operating-space dynamic model onto joint-space using jacobian transformation, joint-space model of 6-DOF parallel robot is derived. And interactions characteristics among the channels are analyzed when 6-DOF parallel robot is in several typical poses. The results show that strong couplings exist among channels in the whole workspace and such couplings vary along with the poses of 6-DOF parallel robot. And such couplings will influence the equivalent load inertia acting on each channel which will bring difficulties to 6-DOF parallel robot control.
| Original language | English |
|---|---|
| Pages (from-to) | 161-165 |
| Number of pages | 5 |
| Journal | Jixie Gongcheng Xuebao/Journal of Mechanical Engineering |
| Volume | 42 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2006 |
| Externally published | Yes |
Keywords
- 6-DOF
- Dynamic coupling
- Joint-space
- Parallel robot