http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Kinematics and dynamics modeling of the 6-3-PUS-type Hexapod parallel mechanism
Jaqueline Bernal,Ricardo Campa,Israel Soto 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.10
Modeling and analyzing the dynamics of mechanical systems is important for purposes of simulation, design and control. In the case of parallel manipulators, dynamics modeling becomes a complex task mainly due to the constraints imposed by the closed kinematic chains, and several methods have been proposed for solving that problem. Some authors suggest first using a non-minimal set of coordinates and then computing a minimal dynamics model by means of the so-called projection method. This paper reports the use of such procedure for obtaining the dynamics model of a particular parallel mechanism of the type known as 6-3-PUS. To compute the non-minimal dynamics we employed the Euler-Lagrange formulation. The computed kinematics and dynamics models were validated via numerical simulations. This modeling approach can be employed for similar mechanisms.