KINEMATIC ANALYSIS AND SIMULATION OF A 6-DOF REDUNDANT ACTUATION PARALLEL MECHANISM

Abstract

Abstract: Using the interface module of force self-evening, a new method of constituting redundant actuation parallel robots is proposed and based on this method, a 6-DOF parallel robot with 10 actuators is presented. Kinematic of the robot is also analyzed and the only expressions are obtained in an explicit form. Then the kinematics simulation is made by the aid of 6-DOF-mouse which is developed by ourselves and the validity of its kinematics solution is verified.

Key words: 6-DOF-mouse, Inverse kinematics, Redundant actuation, Dynamic behavior, Impact loading, Inertia effect, Minor losses, Magnetorheological energy absorber

CLC Number:

TP242

Zhang Yanfei;Gong Jinliang;Li Weimin;Gao Feng. KINEMATIC ANALYSIS AND SIMULATION OF A 6-DOF REDUNDANT ACTUATION PARALLEL MECHANISM[J]. , 2005, 41(8): 144-148.

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KINEMATIC ANALYSIS AND SIMULATION OF A 6-DOF REDUNDANT ACTUATION PARALLEL MECHANISM

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