Journal Article10.4028/WWW.SCIENTIFIC.NET/AMM.157-158.437
Dynamic Model of the 6-DOF Parallel Manipulator Control Using Lagrangian Equation
Rattawut Vongvit,Hai Tao Zhu +1 more
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TL;DR: The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and the structure is explains in this paper.
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Abstract: This paper presents the control of the 6-DOF parallel manipulator using Lagrangian equation. The 6-DOF parallel manipulator are composed of fix base and moveable platform are couple by the actuators. The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and are explains in this paper. The 6-DOF parallel manipulator using Lagrangian equation are accurate and good ability.
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Citations
Global dynamic modeling of electro-hydraulic 3-UPS/S parallel stabilized platform by bond graph
TL;DR: In this paper, a unified modeling approach based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built.
18
Natural frequency prediction of the 3-RPS parallel manipulator using the substructure synthesis technology
Yaping Gong,Junbin Lou +1 more
TL;DR: In this article , an elastodynamic model using substructure synthesis for the 3-PRS parallel manipulator (PM) was developed, with its natural frequencies distribution in the regular workspace discussed.
1
Testing and Analysis of Actuator Parameter Identification of Heavy Load Stewart Platform
TL;DR: In this article, the modeling of an electromechanical linear actuator to be used in a heavy load six-degrees-of-freedom platform application intended for motion control technology is presented.
Study on Working Performances and Factor Combinations of ASU
TL;DR: In this article, the Lagrange equations are used to build the modeling of ASU and comprehensively analyze the work performances including shock resistance, synchronization and stability by use of orthogonal experiment methods under nine different operating conditions of coupling horizontal, rolling and pitching movements.
References
A Platform with Six Degrees of Freedom
D. Stewart
- 01 Jun 1965
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
2.9K
•Book
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Lung-Wen Tsai
- 08 Feb 1999
TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.
2K
On the dynamic model and kinematic analysis of a class of Stewart platforms
TL;DR: A dynamic model for a class of Stewart platform (six degrees of freedom parallel link robotic manipulators) is derived by using tensor representation, which gives all possible global solutions of a manipulator configuration for a given set of six leg lengths.
188
Smooth sliding mode tracking control of the Stewart platform
Chin-I Huang,Li-Chen Fu +1 more
- 19 Sep 2005
TL;DR: In this paper, a smooth sliding mode control approach for the motion control of a Stewart platform is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable.
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