Dynamic Analysis of Redundant Parallel Manipulator
Authors
Qing Li, Yongxin Ren, Jing Zhang
Corresponding Author
Qing Li
Available Online April 2016.
- DOI
- 10.2991/icmit-16.2016.64How to use a DOI?
- Keywords
- Redundant Drive; Parallel Mechanism; Freedom; Dynamic Analysis
- Abstract
The structure of 5-UPS/PRPU redundant parallel manipulator is introduced. The degree of freedom and redundant type of this manipulator is analyzed. And, the dynamic equations of five UPS branches and a PRPU branch are established with Lagrange Method. This study provides theoretical basis for the control system of 5-UPS / PRPU redundant parallel manipulator.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Qing Li AU - Yongxin Ren AU - Jing Zhang PY - 2016/04 DA - 2016/04 TI - Dynamic Analysis of Redundant Parallel Manipulator BT - Proceedings of the 2016 3rd International Conference on Mechatronics and Information Technology PB - Atlantis Press SP - 363 EP - 366 SN - 2352-538X UR - https://doi.org/10.2991/icmit-16.2016.64 DO - 10.2991/icmit-16.2016.64 ID - Li2016/04 ER -