Abstract
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.
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Recommended by Associate Editor Kyoungchul Kong
Bo Hu was born in 1982 in Hubei, P.R. China. He got his B.S. degree at Hubei University of Technology in Wuhan, P.R. China, in 2004, and Ph.D. at School of Mechanical Engineering, Yanshan University in Qinhuangdao, P.R. China, in 2010. He has been an Associate Professor at School of Mechanical Engineering, Yanshan University since 2013. His major reaserch focus on kinematics and dynamics of robotic systems. He has authored/co-authored more than 40 regular papers published in several journals approaching these topics.
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Hu, B., Zhang, L. & Yu, J. Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator. J Mech Sci Technol 30, 5183–5195 (2016). https://doi.org/10.1007/s12206-016-1036-2
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DOI: https://doi.org/10.1007/s12206-016-1036-2