Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

Hong Jun Yang

doi:10.4028/www.scientific.net/AMR.774-776.1369

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 774-776Research on Dynamics of a Three-DOF Parallel...

Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

Abstract:

A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no strong coupling, which is important to control system design.

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Periodical:

Advanced Materials Research (Volumes 774-776)

Pages:

1369-1374

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.774-776.1369

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Online since:

September 2013

Authors:

Hong Jun Yang

Keywords:

Dynamic, Lagrange, Parallel Manipulator, Simulation

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