Dynamics Analysis of High-speed Parallel Robot based on Screw Theory
In order to improve the accuracy and stability of the robot in the process of high-speed motion， the method of modeling the dynamic equation of the 4-DOF Delta high-speed parallel robot is studied. The geometrical method is used to solve the inverse kinematics equation of the robot， and the Kane met...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.015 |
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| _version_ | 1841547272774483968 |
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| author | Pu Wu Zongyan Wang Xiao He Hongxiang Jing Changlin Xia |
| author_facet | Pu Wu Zongyan Wang Xiao He Hongxiang Jing Changlin Xia |
| author_sort | Pu Wu |
| collection | DOAJ |
| description | In order to improve the accuracy and stability of the robot in the process of high-speed motion， the method of modeling the dynamic equation of the 4-DOF Delta high-speed parallel robot is studied. The geometrical method is used to solve the inverse kinematics equation of the robot， and the Kane method of screw theory is combined to establish the dynamic equation of the robot. Matlab programming is used to solve the kinematics and dynamics models， and the displacement， velocity， acceleration and torque curves of the driving arm are drawn. The dynamics control system of the Delta robot is established in Simscape， and the displacement curve of the driving arm is obtained with torque as input. Comparing the calculation and simulation results， the correctness of the dynamic equation is verified. |
| format | Article |
| id | doaj-art-0f683d0350ca44e5841fb2524d9b1c36 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0f683d0350ca44e5841fb2524d9b1c362025-01-10T14:49:15ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-05-014510110610228078Dynamics Analysis of High-speed Parallel Robot based on Screw TheoryPu WuZongyan WangXiao HeHongxiang JingChanglin XiaIn order to improve the accuracy and stability of the robot in the process of high-speed motion， the method of modeling the dynamic equation of the 4-DOF Delta high-speed parallel robot is studied. The geometrical method is used to solve the inverse kinematics equation of the robot， and the Kane method of screw theory is combined to establish the dynamic equation of the robot. Matlab programming is used to solve the kinematics and dynamics models， and the displacement， velocity， acceleration and torque curves of the driving arm are drawn. The dynamics control system of the Delta robot is established in Simscape， and the displacement curve of the driving arm is obtained with torque as input. Comparing the calculation and simulation results， the correctness of the dynamic equation is verified.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.015Delta robotScrew theoryKane equationSimscape simulation |
| spellingShingle | Pu Wu Zongyan Wang Xiao He Hongxiang Jing Changlin Xia Dynamics Analysis of High-speed Parallel Robot based on Screw Theory Jixie chuandong Delta robot Screw theory Kane equation Simscape simulation |
| title | Dynamics Analysis of High-speed Parallel Robot based on Screw Theory |
| title_full | Dynamics Analysis of High-speed Parallel Robot based on Screw Theory |
| title_fullStr | Dynamics Analysis of High-speed Parallel Robot based on Screw Theory |
| title_full_unstemmed | Dynamics Analysis of High-speed Parallel Robot based on Screw Theory |
| title_short | Dynamics Analysis of High-speed Parallel Robot based on Screw Theory |
| title_sort | dynamics analysis of high speed parallel robot based on screw theory |
| topic | Delta robot Screw theory Kane equation Simscape simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.015 |
| work_keys_str_mv | AT puwu dynamicsanalysisofhighspeedparallelrobotbasedonscrewtheory AT zongyanwang dynamicsanalysisofhighspeedparallelrobotbasedonscrewtheory AT xiaohe dynamicsanalysisofhighspeedparallelrobotbasedonscrewtheory AT hongxiangjing dynamicsanalysisofhighspeedparallelrobotbasedonscrewtheory AT changlinxia dynamicsanalysisofhighspeedparallelrobotbasedonscrewtheory |