Inertia Identification of Parallel Machine Tools
碩士 === 大葉大學 === 機電自動化研究所碩士班 === 95 === Parallel machine tools have characteristics of high static rigidity, high performance control etc. Therefore, parallel machine tools have become a new machine tool in next generation. In order to precision simulate dynamic response with variational loads and un...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/64034136052904363145 |
| Summary: | 碩士 === 大葉大學 === 機電自動化研究所碩士班 === 95 === Parallel machine tools have characteristics of high static rigidity, high performance control etc. Therefore, parallel machine tools have become a new machine tool in next generation. In order to precision simulate dynamic response with variational loads and uncertain inertia, detailed equations of motion are required.
Consequently, this paper presents a dynamic equations using Lagrange’s equation in quasi-coordinates based on Stewart parallel mechanism. Then, mass and inertia are identified using the minimum position errors and velocity errors on legs based on the particle swarm optimization algorithm.
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