Servomotor Parameter Estimation of a 2-DOF Translations and Full Rotation Parallel Mechanism
Considering the need of designing a parallel mechanism which can achieve a whole week of rotation and two translations, in this paper, the inverse dynamic model based on the virtual work principle was established. And because the maximum velocity and torque of servomotor are the key indices to choose the servomotor, the prediction models of the maximum velocity and torque of active joints employing the singular value decomposition technique were established as well; further, the prediction model of moment of inertia of servomotor was proposed, and then the computer simulation which can the indentify the effectiveness of this method was conducted. The estimating method has been successfully applied in the series of the parallel mechanisms.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
Y. B. Ni et al., "Servomotor Parameter Estimation of a 2-DOF Translations and Full Rotation Parallel Mechanism", Advanced Materials Research, Vols. 139-141, pp. 2140-2145, 2010