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IFToMM International Conference on Mechanisms, Transmissions and Applications

MeTrApp 2019: Recent Advances in Mechanisms, Transmissions and Applications pp 322–331Cite as

Dynamic Model and Simulation Analysis of a 3-DOF Parallel Mechanism

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 79))

Abstract

For the design requirements of heavy-duty robots, a 3-degrees of freedom 3UPS-UP parallel mechanism was used as the main feed mechanism of heavy-duty robots. The kinematics analysis of the parallel mechanism was carried out, and the complete homogeneous dimensional Jacobian matrix of the mechanism was solved. Based on the kinetic energy and potential energy of each component of the mechanism, the dynamic equation was established by used the Lagrangian method, and the dynamic example simulation was performed.

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References

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Jiaxun Li & Liyong Huang

  2. School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, 056038, China

    Jian Liu & Hongjuan Hou

Authors
  1. Jiaxun Li
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  2. Jian Liu
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  3. Hongjuan Hou
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  4. Liyong Huang
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Corresponding author

Correspondence to Jian Liu .

Editor information

Editors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, China

    Delun Wang

  2. Mechanical Engineering, University of the Basque Country, Bilbao, Spain

    Victor Petuya

  3. Tianjin University, Tianjin, China

    Yan Chen

  4. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada

    Shudong Yu

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Cite this paper

Li, J., Liu, J., Hou, H., Huang, L. (2020). Dynamic Model and Simulation Analysis of a 3-DOF Parallel Mechanism. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_32

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  • DOI: https://doi.org/10.1007/978-981-15-0142-5_32

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-0141-8

  • Online ISBN: 978-981-15-0142-5

  • eBook Packages: EngineeringEngineering (R0)

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