Dynamics Analysis of 3-TPS/TP Parallel Robot’s Moving Platform

Abstract:

The purpose of this research work is to find the relationship between the driving force (F) of 3-TPS/TP parallel robot’s moving platform and the motion of tool tip, and provide reliable basis for the robot control. The Lagrange method is adopted to establish the dynamics model, and the results of the simulation by MATLAB are given in this paper. The movement of tool tip can be described by the angle α and β rotated around X-axis and Y-axis respectively, and the displacement z in the Z direction. The simulation results show that the value of F increases with the increase of the value of z, namely when the total length of the transmission rod decreases, F will increase to overcome the resistance caused by telescoping.

• Periodical: Applied Mechanics and Materials (Volumes 184-185)
• Pages: 1655-1659
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.184-185.1655
• Online since: June 2012
• Authors: Ji Man Luo, Zhi Hui Xing, Yang Jiang, Xiao Tong Zhang, Yu Zhen An
• Keywords: Dynamics Model, MATLAB Simulation, Parallel Robot

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