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Dynamics Modeling and Analysis of a Type of High Frequency 6-DOF Parallel Platform

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Robotic Welding, Intelligence and Automation (RWIA 2014)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 363))

Abstract

To break the frequency band restricts caused by the transverse vibration of the actuators, a new type of hydraulically driven 6-DOF parallel platform with higher frequency band is proposed. This study presents the kinematics and dynamics of this type of 6-DOF parallel platform. Following the theoretical description of the kinematics and dynamics, a multi rigid body dynamic model is established with the Kane’s method according to a real platform which is under construction. The simulation results are shown that this platform is qualified to high frequency applications.

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Acknowledgement

This research has been supported by National Natural Science Foundation of China, Research Project No. 51105094.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Harbin Institute of Technology, Harbin, China

    Qi-Tao Huang, Zheng-Mao Ye & Zhi-zhong Tong

Authors
  1. Qi-Tao Huang
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  2. Zheng-Mao Ye
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  3. Zhi-zhong Tong
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Corresponding author

Correspondence to Qi-Tao Huang .

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Editors and Affiliations

  1. Washington University, St. Louis, Missouri, USA

    Tzyh-Jong Tarn

  2. School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China

    Shan-Ben Chen

  3. Department of Mechanical Engineering, University of Canterbury, Christchurch, New Zealand

    Xiao-Qi Chen

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Huang, QT., Ye, ZM., Tong, Zz. (2015). Dynamics Modeling and Analysis of a Type of High Frequency 6-DOF Parallel Platform. In: Tarn, TJ., Chen, SB., Chen, XQ. (eds) Robotic Welding, Intelligence and Automation. RWIA 2014. Advances in Intelligent Systems and Computing, vol 363. Springer, Cham. https://doi.org/10.1007/978-3-319-18997-0_40

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  • DOI: https://doi.org/10.1007/978-3-319-18997-0_40

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18996-3

  • Online ISBN: 978-3-319-18997-0

  • eBook Packages: EngineeringEngineering (R0)

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