标题:Dynamic Modeling of RR-RRR Spherical Parallel Manipulator for Vector Thruster
作者:Xu, Han; Chen, Yuan; Gao, Jun
通讯作者:Chen, Yuan
作者机构:[Xu, Han; Chen, Yuan; Gao, Jun] Shandong Univ, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China.
会议名称:5th International Conference on Electrical Engineering and Automatic Control (ICEEAC)
会议日期:OCT 16-18, 2015
来源:PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND AUTOMATIC CONTROL
出版年:2016
卷:367
页码:181-187
DOI:10.1007/978-3-662-48768-6_21
关键词:Spherical parallel manipulator; Autonomous underwater vehicle; Thrust; vectoring technology; Kinematic and dynamic model
摘要:Thrust vectoring technology with single manipulator and multidimensional attitude is a novel thrust vectoring method in underwater vehicle. In order to complete both the rotational transmission and attitude adjustment, a two degree of freedom (DOF) spherical thrust vectoring parallel manipulator are proposed. Its forward and inverse kinematic solutions are formulated. And the dynamic model is established by Lagrange's formulation and the principle of energy equivalence. Finally, numerical simulation results validate the efficiency of kinematic and dynamic models.
收录类别:CPCI-S;EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84978908825&doi=10.1007%2f978-3-662-48768-6_21&partnerID=40&md5=da478644426986f4bd29f97f7cb746ec
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