|Table of Contents|

Structure design and performance analysis of six-pyramid parallel robot

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2013年02期
Page:
257-
Research Field:
Publishing date:

Info

Title:
Structure design and performance analysis of six-pyramid parallel robot
Author(s):
Liu WeiChang Siqin
School of Mechanical Engineering,NUST,Nanjing 210094,China
Keywords:
parallel robots six-pyramid structure kinematics dynamics
PACS:
TH12
DOI:
-
Abstract:
A six-pyramid parallel robot for the large angle in the cross-country road simulation is designed.Its structure,degree of freedom and working principle are analyzed.The kinematics model and the dynamics model are respectively established by the geometric and the Lagrange method.Examples present the workspace of the robot and the relationship between the motor position and the driving force with the load platform motion.A prototype is fabricated and its translational and rotational performance are tested.The experimental results show that the max angle of the prototype is 55° and the prototype can meet the requirements of the large angle condition simulation.The actual performance is coinciding with simulation results,verifying that the design is feasible and the simulation is correct.

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Last Update: 2013-04-30