Paper Title:
Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator
  Abstract

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.

  Info
Periodical
Chapter
Chapter 2: Manufacturing Technology and Machinery Automation
Edited by
Quanjie Gao
Pages
172-180
DOI
10.4028/www.scientific.net/AMM.127.172
Citation
G. J. Liu, S. T. Zheng, P. O. Ogbobe, J. W. Han, "Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator", Applied Mechanics and Materials, Vol. 127, pp. 172-180, 2012
Online since
October 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Wen Hua Wang, Zhi You Feng, Ting Li Yang
Abstract:2UPS-RPU is a new 4-DOF parallel mechanism with serial input limb. In this paper, the inverse dynamic equation of this mechanism is...
738
Authors: Zhi Gang Chen, Zi Lin Peng
Abstract:For non-uniform continuous bridge in actual projects, the theoretical analysis and field testing of the dynamic response under moving vehicle...
1634
Authors: Xiao Bing Qi, Lei Feng, Yong Fang Zhang, Yan Jun Lu
Vibration, Noise Analysis and Control
Abstract:Based on the unsteady Reynolds equation with Reynolds boundary, two-dimensional (2D) Reynolds equation is transformed into one-dimensional...
1941
Authors: Juan Juan Wen, Li Yun Yi
Chapter 3: Applied Mechanics
Abstract:An approach based on finite element analysis is presented to analyze the free vibration of coupled beams with spring-mass attachments. The...
281