Inverse Kinematics and Dynamics of a Spraying Robot

Dong-Jie Zhao ； Xiang Liu ； Jing-Shan Zhao ； Li-Ping Wang

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 63-78

https://doi.org/10.6567/IFToMM.14TH.WC.OS11.018

並列摘要

In this paper, a novel 3-P (R) S parallel mechanism is proposed by replacing the revolute joint of general 3-PRS mechanisms with a four-bar linkage in order to improve its stiffness and enlarge its workspace. It was applied to a hybrid spraying robot as the terminal sprayer tool, which has the capacity to make the sprayer perpendicular to the spraying surface. In order to provide a theoretical basic for the control system design, the kinematics and dynamics of the proposed mechanism was investigated by adopting the discrete time transfer matrix method (DT-TMM). Generally, the kinematics and dynamics of parallel mechanisms are studied individually. Compared with the conventional approaches, the DT-TMM could handle both the kinematics and dynamics at the same time. Based on the overall transfer equation of the mechanism, its kinematics and dynamics are analyzed through numerical simulation.

並列關鍵字

3-PRS mechanism ； kinematics ； dynamics ； discrete time transfer matrix