Dissertation > Excellent graduate degree dissertation topics show

A Method for 6-PSS Parallel Robot Dynamics Model

Author: MaLi
Tutor: WangHongRui
School: Hebei University
Course: Detection Technology and Automation
Keywords: Parallel Robot dynamics model Lagrange dynamics model Jacobian matrix
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 113
Quote: 1
Read: Download Dissertation

Abstract


Parallel robot is a common structure of industrial robots. At present, it has extensive and important applications in many aspects such as industrial, military, aviation, ocean development, medical rehabilitation and entertainment, and become the focus of research in machinery and automation. However, the dynamics research for parallel robot is much less than mechanics and kinematics. Because robot dynamics model is the based of dynamic analysis and is the premise for dynamic performance evaluation and dynamic control, it is important to take the research in dynamic model of parallel robots.The paper based on the laboratory model. First, a general method to calculate the inverse dynamics model of the parallel robot has been given out, and then the direct dynamics model with Lagrange method has been established. Lagrange has a large amount of computing in these methods, but it is based on the principle of energy balance and only need the calculation of the kinetic energy and potential energy systems to determine the dynamics of the system and model. So it can eliminate the solving part of acceleration and angular acceleration in kinematics. Its derivation is relatively simple, and it is able to solve a very complex dynamics equations. It also has a explicit structure. Currently there is little research on this kind of 6-PSS parallel Robot, so this dynamic model has theoretical value.Comparing with the traditional method which use the input as the generalized coordinates, using pose as a method of generalized coordinates can greater improve the computer-controlled real-time control and make the solving process faster. The method is suitable for most robots.The method improves the real-time control system and can be applicable to the majority of robot. It is a important theoretical basis for the robot kinematics characteristics and in-depth analysis of the control system.

Related Dissertations

  1. Research on Monitoring System of High-Load Parallel Robot,TP242
  2. 2,4 - dinitrotoluene microbial degradation studies of metabolic,X172
  3. High-speed train multibody dynamics parameter extraction and model transformation key technology research,TP391.72
  4. Runge-Kutta Numerical Methods and Applications to Differential Equation Models,O241.8
  5. Study on Pickling Dynamics and Quality Evaluation Model of Preserved Eggs,TS253.46
  6. Natural Characteristics and Dynamic Response of Mechanic Vibration System for Tractive Elevator,TU857
  7. Post-disaster psychological assistance system dynamics analysis and Management Strategies,B849
  8. Three DOF Parallel Manipulators flat key technology research,TP242.2
  9. Motion Control and Stability Study of Mobile Parallel Robot,TP242.2
  10. Application of Intelligent Control in the Robotic Visual Servo System,TP242.62
  11. Evolution of Urban Space and Urban Traffic Impact Analysis,TU981
  12. Research on Transmission Performance of 3-DOF Parallel Manipulator,TP242
  13. Research on Visual Input System of Parallel Robot on Hazardous Chemicals Transport Conditions,TP242
  14. Dynamical Analysis of Fractional-Order Species Models,O175
  15. Experiment Research on Desulphurization of Carbide Slag of CFB,X701.3
  16. Qualitative Analysis of Helicopter Stability under the Precipitation and Thunderstorm,TP319
  17. Research on Telecom Customer Group’s Segmentation Model by System Dynamics,F626
  18. Research on Evaluation of Sustainable Development of Resource-Based Cities Based on Systematize Dynamics Analysis,F224
  19. Kinetic Study on the Process for Aliphatic-aromatic Copolyester Synthesis,O631.5
  20. Study on Technologies of Milling Com-Mutator Slot Based on Visual Positioning,TP391.41

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile