{"title":"基于第一类拉格朗日方程的六边形并联机器人逆动力学","authors":"Xiaorong Wang, Yaping Tian","doi":"10.1109/MACE.2010.5535969","DOIUrl":null,"url":null,"abstract":"Based on the Lagrangian equations of first type, the coordinate system is constructed according to the mechanical characteristics of Hexa Parallel Robot. The generalized coordinates are composed of six actuated independent coordinates plus redundant coordinates denoting the position and three Euler angles of active platform. After formulating the Lagrangian function, combining the constraint equations, the dynamics model of Hexa Parallel Robot is established.","PeriodicalId":6349,"journal":{"name":"2010 International Conference on Mechanic Automation and Control Engineering","volume":"EM-22 1","pages":"3712-3716"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Inverse dynamics of Hexa Parallel Robot based on the Lagrangian equations of first type\",\"authors\":\"Xiaorong Wang, Yaping Tian\",\"doi\":\"10.1109/MACE.2010.5535969\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Based on the Lagrangian equations of first type, the coordinate system is constructed according to the mechanical characteristics of Hexa Parallel Robot. The generalized coordinates are composed of six actuated independent coordinates plus redundant coordinates denoting the position and three Euler angles of active platform. After formulating the Lagrangian function, combining the constraint equations, the dynamics model of Hexa Parallel Robot is established.\",\"PeriodicalId\":6349,\"journal\":{\"name\":\"2010 International Conference on Mechanic Automation and Control Engineering\",\"volume\":\"EM-22 1\",\"pages\":\"3712-3716\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 International Conference on Mechanic Automation and Control Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MACE.2010.5535969\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 International Conference on Mechanic Automation and Control Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MACE.2010.5535969","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Inverse dynamics of Hexa Parallel Robot based on the Lagrangian equations of first type
Based on the Lagrangian equations of first type, the coordinate system is constructed according to the mechanical characteristics of Hexa Parallel Robot. The generalized coordinates are composed of six actuated independent coordinates plus redundant coordinates denoting the position and three Euler angles of active platform. After formulating the Lagrangian function, combining the constraint equations, the dynamics model of Hexa Parallel Robot is established.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
