Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload

Chifu Yang; Shutao Zheng; Qitao Huang; Junwei Han

doi:10.1109/CMCE.2010.5609668

Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload

Chifu Yang, Shutao Zheng, Qitao Huang, Junwei Han

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposed an simply and effectively dynamic model for the spatial 6-DOF parallel manipulator with heavily eccentric payload (PMHEP). Based on Newton method and theorem of angular momentum, the mathematical model of the PMHEP is derived, viewing it as a rigid body. The dynamic equations are programmed and implemented in Matlab/Simulink. Simulation results verified the dynamic formulations under the presented approach, through comparing with completely dynamic model constructed with SimMechanics according to the physical relationship of PMHEP. Moreover, the dynamic equations are more simplified and efficient to be utilized in real time controller and configuration design, as well as dynamics analysis.

Original language	English
Title of host publication	2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010
Pages	121-124
Number of pages	4
DOIs	https://doi.org/10.1109/CMCE.2010.5609668
State	Published - 2010
Externally published	Yes
Event	2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010 - Changchun, China Duration: 24 Aug 2010 → 26 Aug 2010

Publication series

Name	2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010
Volume	2

Conference

Conference	2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010
Country/Territory	China
City	Changchun
Period	24/08/10 → 26/08/10

Keywords

Dynamics
Modeling
Newton method
Parallel manipulator
Theorem of angular momentum

Access to Document

10.1109/CMCE.2010.5609668

Cite this

Yang, C., Zheng, S., Huang, Q., & Han, J. (2010). Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload. In 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010 (pp. 121-124). Article 5609668 (2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010; Vol. 2). https://doi.org/10.1109/CMCE.2010.5609668

@inproceedings{8f0f637da04f4e3594f6a9fa4d7a6ed7,

title = "Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload",

abstract = "This paper proposed an simply and effectively dynamic model for the spatial 6-DOF parallel manipulator with heavily eccentric payload (PMHEP). Based on Newton method and theorem of angular momentum, the mathematical model of the PMHEP is derived, viewing it as a rigid body. The dynamic equations are programmed and implemented in Matlab/Simulink. Simulation results verified the dynamic formulations under the presented approach, through comparing with completely dynamic model constructed with SimMechanics according to the physical relationship of PMHEP. Moreover, the dynamic equations are more simplified and efficient to be utilized in real time controller and configuration design, as well as dynamics analysis.",

keywords = "Dynamics, Modeling, Newton method, Parallel manipulator, Theorem of angular momentum",

author = "Chifu Yang and Shutao Zheng and Qitao Huang and Junwei Han",

year = "2010",

doi = "10.1109/CMCE.2010.5609668",

language = "英语",

isbn = "9781424479566",

series = "2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010",

pages = "121--124",

booktitle = "2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010",

note = "2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010 ; Conference date: 24-08-2010 Through 26-08-2010",

}

Yang, C, Zheng, S, Huang, Q & Han, J 2010, Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload. in 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010., 5609668, 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, vol. 2, pp. 121-124, 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, Changchun, China, 24/08/10. https://doi.org/10.1109/CMCE.2010.5609668

Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload. / Yang, Chifu; Zheng, Shutao; Huang, Qitao et al.
2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010. 2010. p. 121-124 5609668 (2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload

AU - Yang, Chifu

AU - Zheng, Shutao

AU - Huang, Qitao

AU - Han, Junwei

PY - 2010

Y1 - 2010

N2 - This paper proposed an simply and effectively dynamic model for the spatial 6-DOF parallel manipulator with heavily eccentric payload (PMHEP). Based on Newton method and theorem of angular momentum, the mathematical model of the PMHEP is derived, viewing it as a rigid body. The dynamic equations are programmed and implemented in Matlab/Simulink. Simulation results verified the dynamic formulations under the presented approach, through comparing with completely dynamic model constructed with SimMechanics according to the physical relationship of PMHEP. Moreover, the dynamic equations are more simplified and efficient to be utilized in real time controller and configuration design, as well as dynamics analysis.

AB - This paper proposed an simply and effectively dynamic model for the spatial 6-DOF parallel manipulator with heavily eccentric payload (PMHEP). Based on Newton method and theorem of angular momentum, the mathematical model of the PMHEP is derived, viewing it as a rigid body. The dynamic equations are programmed and implemented in Matlab/Simulink. Simulation results verified the dynamic formulations under the presented approach, through comparing with completely dynamic model constructed with SimMechanics according to the physical relationship of PMHEP. Moreover, the dynamic equations are more simplified and efficient to be utilized in real time controller and configuration design, as well as dynamics analysis.

KW - Dynamics

KW - Modeling

KW - Newton method

KW - Parallel manipulator

KW - Theorem of angular momentum

UR - http://www.scopus.com/inward/record.url?scp=78650031188&partnerID=8YFLogxK

U2 - 10.1109/CMCE.2010.5609668

DO - 10.1109/CMCE.2010.5609668

M3 - 会议稿件

AN - SCOPUS:78650031188

SN - 9781424479566

T3 - 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010

SP - 121

EP - 124

BT - 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010

T2 - 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010

Y2 - 24 August 2010 through 26 August 2010

ER -

Yang C, Zheng S, Huang Q, Han J. Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload. In 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010. 2010. p. 121-124. 5609668. (2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010). doi: 10.1109/CMCE.2010.5609668

Simplified modeling of spatial 6-DOF parallel manipulator with heavily eccentric payload

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this