COUPLING ANALYSIS BASED ON JOINT-SPACE MODEL OF PARALLEL ROBOT

Abstract

Abstract: 6-DOF hydraulically driven parallel robot mainly consists of two systems: mechanical subsystem and hydraulic subsystem. These two subsystems can be modeled as multi-rigid body dynamics and hydraulic dynamics respectively. According to a bilateral coupling between the two subsystems, the integrated dynamic model of 6-DOF parallel robot is set up in operating-space. Through mapping operating-space dynamic model onto joint-space using jacobian transformation, joint-space model of 6-DOF parallel robot is derived. And interactions characteristics among the channels are analyzed when 6-DOF parallel robot is in several typical poses. The results show that strong couplings exist among channels in the whole workspace and such couplings vary along with the poses of 6-DOF parallel robot. And such couplings will influence the equivalent load inertia acting on each channel which will bring difficulties to 6-DOF parallel robot control.

Key words: Dynamic coupling, 6-DOF, Joint-space, Parallel robot

CLC Number:

TP242.2

HE Jingfeng;YE Zhengmao;JIANG Hongzhou;CONG Dacheng;HAN Junwei. COUPLING ANALYSIS BASED ON JOINT-SPACE MODEL OF PARALLEL ROBOT[J]. , 2006, 42(6): 161-165.

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COUPLING ANALYSIS BASED ON JOINT-SPACE MODEL OF PARALLEL ROBOT

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