Content area
Abstract
A dynamics of a 3-leg 6-DoF parallel manipulator with multi different-DoF fingers is studied systematically. First, the unified kinematics formulae of the parallel manipulator with multi different-DoF fingers are established for solving the velocity/acceleration of the moving links of parallel manipulator and finger mechanisms and the Jacobian/Hessian matrices. Second, their unified dynamics formulae are established for solving the dynamic input wrench of the parallel manipulator and the finger mechanisms. Third, the special kinematics/ dynamics formulae of a novel 6-DoF 3-UPS type parallel manipulator with three one-DoF finger mechanisms are derived for illustrating application of dynamics formulae. Finally, its analytic solutions are analyzed and verified by the simulation solutions.
Details
1 College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China; Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei, China
2 College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China