Simulation Solving Active Force and Passive Force of a 3UPU-II Type Spatial Parallel Manipulator

Yong Ye

doi:10.4028/www.scientific.net/AMM.246-247.749

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 246-247Simulation Solving Active Force and Passive Force...

Simulation Solving Active Force and Passive Force of a 3UPU-II Type Spatial Parallel Manipulator

Abstract:

A CAD variation geometry approach and force/torque balance equations are proposed for simulation of the accurate active force and passive force of a 3-dof 3UPU-Ⅱspatial parallel manipulator. First, an initial simulation mechanism of the 3UPU-Ⅱspatial parallel manipulator is created. Second, a variable workload which is composed of a central force F and a central torque T is constructed and applied to the center of the platform in the simulation mechanism. Third, the whole F/T (force/torque) simulation mechanism of the 3UPU-II spatial parallel manipulator is created. Finally, the extension of the active limbs, the active forces and passive forces are solved and modified.

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Periodical:

Applied Mechanics and Materials (Volumes 246-247)

Pages:

749-753

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.246-247.749

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Online since:

December 2012

Authors:

Yong Ye

Keywords:

CAD Variable Geometric Approach, Force, Parallel Manipulator, Simulation

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