MODÈLE MATRICIEL EN DYNAMIQUE DU ROBOT PARALLÈLE STEWART-GOUGH
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2009, Vol 54, Issue 3
Abstract
L’article établit des relations matricielles itératives d’analyse cinématique et dynamique du robot parallèle Stewart-Gough, schématisé dans l’espace par un réseau de chaînes cinématiques fermées. Sous l’action de six forces générées par des systèmes pneumatiques ou hydraulique indépendantes, les six actuateurs du mécanisme tridimensionnel effectuerons des translations relatives. En connaissant le mouvement général de la plateforme, on développe le problème cinématique inverse et on détermine les positions, les vitesses et les accélérations des éléments composant le manipulateur. Basées sur le principe des travaux virtuels, les équations fondamentales de la dynamique des robots parallèles offrent des expressions récursives et des graphes pour les forces motrices des six actionneurs.
Authors and Affiliations
Ştefan STAICU
Keywords
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