Dynamic Model of the 6-DOF Parallel Manipulator Control Using Lagrangian Equation

Rattawut Vongvit; Hai Tao Zhu

doi:10.4028/www.scientific.net/AMM.157-158.437

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 157-158Dynamic Model of the 6-DOF Parallel Manipulator...

Dynamic Model of the 6-DOF Parallel Manipulator Control Using Lagrangian Equation

Abstract:

This paper presents the control of the 6-DOF parallel manipulator using Lagrangian equation. The 6-DOF parallel manipulator are composed of fix base and moveable platform are couple by the actuators. The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and are explains in this paper. The 6-DOF parallel manipulator using Lagrangian equation are accurate and good ability.

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Periodical:

Applied Mechanics and Materials (Volumes 157-158)

Pages:

437-440

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.157-158.437

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Online since:

February 2012

Authors:

Rattawut Vongvit, Hai Tao Zhu

Keywords:

6 DOF Parallel Manipulator, Inverse Kinematic, Lagrangian Dynamics, Simulink

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