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Solving Kinematics and Active Forces of Some Parallel Manipulators by a Block Diagram Modeling System

Yi Lu and Bo Hu
[+] Author Affiliations
Yi Lu, Bo Hu

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2007-34448, pp. 1495-1501; 7 pages
doi:10.1115/DETC2007-34448
From:
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME

abstract

A novel CAD approach is proposed for analyzing kinematics and dynamics of spatial parallel manipulators by using a block diagram modeling system in Simulink/SimMechanics. First, some basic concepts, common modeling and simulation techniques of block diagram modeling system are described. Second, the block diagram modeling systems of various active limbs and their equivalent sub-systems are built, and the simulation mechanisms and the whole block diagram modeling systems of the 2UPU+SPR and 3SPS+SP parallel manipulators with 3, 4-dof are created. Third, the pose, the velocity, the acceleration as well as the active forces of the parallel manipulators are solved. This project is supported by NSFC (Nature Science Fund of China) 50575198.

Copyright © 2007 by ASME

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