| Exact Computation of Parallel Robot's Generalized Inertia Matrix |
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| 作者姓名： | 赵永杰 杨志永 梅江平 黄田 |
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| 作者单位： | School of Mechanical Engineering Tianjin University，Tianjin 300072，China，School of Mechanical Engineering，Tianjin University，Tianjin 300072，China，School of Mechanical Engineering，Tianjin University，Tianjin 300072，China，School of Mechanical Engineering，Tianjin University，Tianjin 300072，China |
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| 基金项目： | Supported by National Natural Science Foundation of China (No. 50375106) , the State Scholarship Fund (No. 2004812032) and Key Laboratory of Intelligent Manufacturing at Shantou University ( No. Imstu-2002-11). |
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| 摘 要： | According to the definition of the new hypothetical states which have obvious physical sig-nificance and are termed as no-gravity static and accelerated states, a method for exact computa-tion of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element dis-tribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily.
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Exact Computation of Parallel Robot's Generalized Inertia Matrix |
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| ZHAO Yongjie,YANG Zhiyong,MEI Jiangping,HUANG Tian.Exact Computation of Parallel Robot''''s Generalized Inertia Matrix[J].Transactions of Tianjin University,2005,11(6). |
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| Authors: | ZHAO Yongjie YANG Zhiyong MEI Jiangping HUANG Tian |
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| Institution: | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| Abstract: | According to the definition of the new hypothetical states which have obvious physical sig-nificance and are termed as no-gravity static and accelerated states, a method for exact computa-tion of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element dis-tribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily. |
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| Keywords: | generalized inertia matrix no-gravity static and accelerated states parallel robot inverse dynamics principle of virtual work |
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