@inproceedings{2806d6bb202741d6a292fcf74b8c4a63,
title = "Dynamic modeling of spatial 6-Dof parallel manipulator using Kane method",
abstract = "In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions, a typical PID controller is developed for dynamic models in both Simulink and SimMechanics. Simulation results show that the responses of the dynamic model using Kane method in Simulink are fully consistent with that of SimMechanics, the dynamic models in both Simulink and SimMechanics are exact.",
keywords = "Dynamic model, Kane approach, Parallel manipulator, PID controller",
author = "Yingbo Wang and Shutao Zheng and Jun Jin and Hongguang Xu and Junwei Han",
year = "2010",
doi = "10.1109/ICEEE.2010.5661216",
language = "英语",
isbn = "9781424471614",
series = "2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010",
booktitle = "2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010",
note = "2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010 ; Conference date: 07-11-2010 Through 09-11-2010",
}