Volume 30 Issue 01
Jan.  2004
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Bai Zhifu, Han Xianguo, Chen Wuyiet al. Study of a 3-DOF parallel manipulator dynamics based on Lagrange's equation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(01): 51-54. (in Chinese)
Citation: Bai Zhifu, Han Xianguo, Chen Wuyiet al. Study of a 3-DOF parallel manipulator dynamics based on Lagrange's equation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(01): 51-54. (in Chinese)

Study of a 3-DOF parallel manipulator dynamics based on Lagrange's equation

  • Received Date: 20 Sep 2002
  • Publish Date: 31 Jan 2004
  • Based on Lagrange's equation, the dynamic equation of a 3-DOF parallel manipulator was established and the drive force acted on the mechanism was given. Computer simulation was performed to investigate the driving forces variation when the platform moves along a circle and to study the force errors due to the model simplification, based on which, the condition for simplification was given. The relation between system parameters and drive force of the mechanism was obtained. The results provided references for detailed research on dynamic characteristics and optimal design of the parallel machine tools.

     

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