ADAMS MATLAB Co-Simulation of Dynamics Parallel Manipulator
Electromechanical coupling dynamic of parallel manipulator is a multi-input, multi-output, non linearity, tight coupling, and complex electromechanical system, but now there isn’t have a mature model of Parallel manipulator dynamic and methods of Simulation calculation. In this following passage, aiming at 3PUU parallel manipulator, we establish dynamic model In ADAMS software; design the servo controller in MATLAB and setting to the control parameters. The co-simulation results computer simulation validate the rationality of modeling of electromechanical coupling dynamics and show the optimal control of the mechanism’s displacement and torque of the servomotor by controller.
Pengcheng Wang, Liqun Ai, Yungang Li, Xiaoming Sang and Jinglong Bu
J. X. Wu et al., "ADAMS MATLAB Co-Simulation of Dynamics Parallel Manipulator", Advanced Materials Research, Vols. 295-297, pp. 2125-2128, 2011