文章基本信息

标题：Dynamic Modeling and Analysis of a Novel 3-RRR Parallel Shoulder
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作者：Liang Zhang ; Zhenlin Jin ; Shuzhen Li 等
期刊名称：Journal of Software Engineering
印刷版ISSN：1819-4311
电子版ISSN：2152-0941
出版年度：2015
卷号：9
期号：4
页码：773-784
DOI：10.3923/jse.2015.773.784
出版社：Academic Journals Inc., USA
摘要：The dynamic analysis of a novel 3-DOF robot shoulder joint based on orthogonal spherical 3-RRR parallel mechanism was presented. The kinematics constraint equation of this mechanism was established based on the geometric structure and the kinematics model of moving platform was derived. The dynamics model was established based on Lagrange method and the effective inertia, coupling inertia and driving torque of the shoulder joint were analyzed. The variation of the dynamics parameters with the change of the mechanism was discussed and the dynamic coupling relationship between branches was analyzed. The analysis results show that the posture change of the mechanism has a great influence on the dynamics parameters in the process of movement. The results will be useful to improve the control scheme of this mechanism and the selection of servo motor.