Liu, Haitao, Mei , JiangPing, Zhao , XueMan, Huang, Tian and Chetwynd, D. G. (2008) Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism. Science in China. Series E: Technological Sciences , Vol.51 (No.3). pp. 288-301. doi:10.1007/s11431-008-0029-5 ISSN 1006-9321.

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Abstract

A novel reconfigurable 5-DOF hybrid manipulator-TriVariant-B is composed of a 2-DOF spherical parallel mechanism which is serially connected with a 3-DOF open-loop kinematic chain undergoing one translation and two rotations by a prismatic joint. The merit of this design is that a relatively large workspace/limb-stroke ratio can be achieved thanks to the decomposition of the fixed point rotation and the relative translation. In this paper, on the basis of inverse dynamic formulation of the 2-DOF spherical parallel mechanism, an approach is proposed for estimating the servomotor parameters including moment of inertia, rated speed and the maximum torque in a quick manner. The approach has been employed for the development of a prototype for frame cutting process.

Item Type:	Journal Article
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > Engineering
Journal or Publication Title:	Science in China. Series E: Technological Sciences
Publisher:	Science China Press
ISSN:	1006-9321
Official Date:	March 2008
Dates:	Date Event March 2008 Published
Volume:	Vol.51
Number:	No.3
Number of Pages:	14
Page Range:	pp. 288-301
DOI:	10.1007/s11431-008-0029-5
Status:	Not Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access

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