inverse dynamic computations of a five degree-of-freedom parallel mechanism

• Main Authors: Ping chang Liu, 劉濱彰
• Other Authors: 王勵群
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/53576377876161783122

碩士 === 國立臺灣科技大學 === 機械工程系 === 91 === This thesis deals with the inverse dynamic analysis of a five degree of freedom parallel manipulator. The forward and backward velocity and acceleration transformations between the joint space and the Cartesian space are first derived. The dynamic equations of the manipulator are then derived by using the Newton-Euler and the Lagrange approaches. The Newton-Euler formulation considered each link individually and can be used for computing both driving forces of the actuators and the constraint forces between the links. The Lagrange formulation considered the system as a whole and is derived based on the generalized D’Alembert’s principle and the constraint Jacobian matrices of the links. Therefore it not only gives the minimum number of equations but also consists of only the variables of the five independent driving joint. A numerical example is presented to verify the results obtained from the two approaches.