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

DOI

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.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - 10.2991/icsma-16.2016.89
ID  - Zhao2016/12
ER  -