Abstract
One-degree of freedom (DOF) parallel manipulator of sorting robot is of vital importance for municipal solid waste (MSW) sorting. The motion velocity of the manipulator is very high. So the inertia forces seriously affect the motion characteristics of the manipulator. In order to solve this problem, this paper makes force analysis for the manipulator by using method of body-separation. In the process of the force analysis, the inertia forces are took into account. The dynamics equations of the manipulator are established based on D’Alember’s principle and dynamics sequence solution. The sequence to solve all the equations is listed. Dynamics simulation of one-DOF parallel manipulator is made to visualize the solved results of the equations by using software ADAMS.
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