Dynamic Analysis of the Walking Process of Parallel Foot - Wheeled Robot based on Kane Method
Jiangbo Zhao, Shuanglei Wang
Available Online December 2016.
- https://doi.org/10.2991/icsma-16.2016.89How to use a DOI?
- Parallel robot, Dynamics, Kane method.
- A research has been carried out on the dynamic analysis and simulation of parallel robots due to the situation where parallel robots tend to break down on account of large stress during movements. In order to study the force condition of the robot on the move, a mathematical model, based on the Kane method, has been built and the driving force of each electric cylinder has been calculated by computer programming. In the meantime, a dynamic simulation model and a simulation control system are established on the basis of Adams and Matlab and through analyzing the joint simulation, we can obtain the driving force of each cylinder. The gap between the simulation results and the results obtained by the mathematical model is within 7%, which verifies the correctness of the Kane dynamic system and gives provide the foundation for future studies of dynamics and structure optimization.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Jiangbo Zhao AU - Shuanglei Wang PY - 2016/12 DA - 2016/12 TI - Dynamic Analysis of the Walking Process of Parallel Foot - Wheeled Robot based on Kane Method BT - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016) PB - Atlantis Press SP - 506 EP - 511 SN - 1951-6851 UR - https://doi.org/10.2991/icsma-16.2016.89 DO - https://doi.org/10.2991/icsma-16.2016.89 ID - Zhao2016/12 ER -