Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)

Dynamic Analysis of the Walking Process of Parallel Foot - Wheeled Robot based on Kane Method

Authors
Jiangbo Zhao, Shuanglei Wang
Corresponding Author
Jiangbo Zhao
Available Online December 2016.
DOI
https://doi.org/10.2991/icsma-16.2016.89How to use a DOI?
Keywords
Parallel robot, Dynamics, Kane method.
Abstract
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.
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Volume Title
Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
Series
Advances in Intelligent Systems Research
Publication Date
December 2016
ISBN
978-94-6252-274-9
ISSN
1951-6851
DOI
https://doi.org/10.2991/icsma-16.2016.89How to use a DOI?
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  -