摘要
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.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 161-165 |
| 页数 | 5 |
| 期刊 | Jixie Gongcheng Xuebao/Journal of Mechanical Engineering |
| 卷 | 42 |
| 期 | 6 |
| DOI | |
| 出版状态 | 已出版 - 6月 2006 |
| 已对外发布 | 是 |