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《JOURNAL OF ZHENGZHOU UNIVERSITY OF TECHNOLOGY》 2000-02
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The Dynamic Analysis of parallel 6-SPS Robot

TAN Fan-zhong 1, SUN Li-min 2, JIANG Jun-sheng 1(1.Weifang Advanced Academy,Weifang 251000,China; 2.College of Mathematics,Physics & Mechanics,Zhengzhou University of Technology,Zhengzhou 450002,China)  
The dynamic problems of parallel 6-SPS robot are studied in this paper,and the matrix formulas of kinetic energy,inertia tensor,and inertia force are given.The motion control equation is established by using dynamic universal equation.The relation between the driven Forces of the six hydraulic cylinders of the mechanism and the generalized force of upper platform is attained.It provides basis for the mechanism design and force control of parallel robot.The analysis method is concise and practical,and the formulas are in good order,which are convenient for programming calculation.Finally,the computer simulation calculations are carried out.
【Fund】: 河南省自然科学基金资助项目! (9840 5 3 60 0 )
【CateGory Index】: TP242.2
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