TY - GEN
T1 - Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator
AU - Liu, Guojun
AU - Zheng, Shutao
AU - Ogbobe, Peter
AU - Han, Junwei
PY - 2012
Y1 - 2012
N2 - From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.
AB - From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.
KW - 6-UCU parallel manipulator
KW - Inverse dynamic analysis
KW - Inverse kinematic analysis
KW - Newton-Euler method
KW - Stewart platform
UR - http://www.scopus.com/inward/record.url?scp=82555183044&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.127.172
DO - 10.4028/www.scientific.net/AMM.127.172
M3 - 会议稿件
AN - SCOPUS:82555183044
SN - 9783037852835
T3 - Applied Mechanics and Materials
SP - 172
EP - 180
BT - Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
T2 - 2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
Y2 - 24 December 2011 through 25 December 2011
ER -