Dynamical analysis of a drilling end-effector with 3-SPR parallel mechanism

doi:10.1109/M2VIP.2016.7827322

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	Dynamical analysis of a drilling end-effector with 3-SPR parallel mechanism
	Zhang, Laixi 1; Chen, Lin 2; Wang, Shuai 1
	2017-01-19
会议日期	November 28, 2016 - November 30, 2016
会议地点	Nanjing, Jiangsu, China
关键词	Computer vision End effectors Equations of motion Mechanisms Curved surfaces Dynamical analysis Dynamics equation Explicit solutions Lagrange equation Optimization design Parallel mechanisms Structure parameter
DOI	10.1109/M2VIP.2016.7827322
英文摘要	The dynamics equations of a centrosymmetry 3-SPR parallel mechanism were built based on Lagrange equations and the explicit solution of the actuation force was obtained. To use the equations for control, the simplified presentation of the equations were researched. The actuation force changing of the platform was simulated based on the explicit solution. The situation that the chain mass can be ignored was studied by comparing whether the platform was uploaded. Finally, the relationship between actuation force and the platform structure parameters was analysized, the results can be used for optimization design of the drilling mechanism. © 2016 IEEE.
会议录	M2VIP 2016 - Proceedings of 23rd International Conference on Mechatronics and Machine Vision in Practice
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117349]
专题	机电工程学院
作者单位	1.School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou, China; 2.Jiangsu Shentong Valve Co. Ltd, Nantong, China
推荐引用方式 GB/T 7714	Zhang, Laixi,Chen, Lin,Wang, Shuai. Dynamical analysis of a drilling end-effector with 3-SPR parallel mechanism[C]. 见:. Nanjing, Jiangsu, China. November 28, 2016 - November 30, 2016.