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ASME Press Select Proceedings

International Conference on Control Engineering and Mechanical Design (CEMD 2017)

Editor
Chao Li
Chao Li
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ISBN:
9780791861677
No. of Pages:
324
Publisher:
ASME Press
Publication date:
2018

For improving the reliability and efficiency of the dynamic modeling and analysis for 3-RSR spatial parallel robot mechanism, the corresponding vector bond graph procedure is proposed. By assembling the vector bond graph model of spatial moving rigid body, spatial revolute joint and spherical joint, the vector bond graph model of 3-RSR spatial parallel robot mechanism is made. By effective augment method, the algebraic difficulty brought by differential causality and nonlinear junction structure in the automatic modeling of this spatial parallel robot mechanism is overcome. As a result, the computer automatic dynamic modeling and analysis of 3-RSR spatial parallel robot mechanism...

Introduction
The Vector Bond Model of 3-RSR Parallel Manipulator
Kineto-Static Analysis of Example System
Conclusions
Acknowledgement
References
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