| Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool | |
| Wu, Jun ; Wang, Jinsong ; Wang, Liping ; Li, Tiemin | |
| 2010-10-12 ; 2010-10-12 | |
| 关键词 | Dynamic model Force control Redundantly actuated parallel manipulator MECHANISMS Robotics |
| 中文摘要 | This paper deals with the dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. The inverse dynamic model is derived by using the Newton-Euler method. The driving force is optimized by the least-square method. Based on the kinematic and dynamic models, the redundant chain is controlled by force mode and other chains by position mode. The redundantly actuated parallel manipulator is incorporated into a 5-DOF hybrid machine tool which also includes a worktable with a translational DOF and a rotational DOF. The experiments wherein the machine moves along a straight-line trajectory and a circular trajectory show that the machine has a good contouring performance. |
| 语种 | 英语 ; 英语 |
| 出版者 | CAMBRIDGE UNIV PRESS ; NEW YORK ; 32 AVENUE OF THE AMERICAS, NEW YORK, NY 10013-2473 USA |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/80475]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Wu, Jun,Wang, Jinsong,Wang, Liping,et al. Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool[J],2010, 2010. |
| APA | Wu, Jun,Wang, Jinsong,Wang, Liping,&Li, Tiemin.(2010).Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool.. |
| MLA | Wu, Jun,et al."Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool".(2010). |
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