Abstract
A CAD variation geometry approach and force/torque balance equations are proposed for simulation of the accurate active force and passive force of a 3-dof 3UPU-Ⅱspatial parallel manipulator. First, an initial simulation mechanism of the 3UPU-Ⅱspatial parallel manipulator is created. Second, a variable workload which is composed of a central force F and a central torque T is constructed and applied to the center of the platform in the simulation mechanism. Third, the whole F/T (force/torque) simulation mechanism of the 3UPU-II spatial parallel manipulator is created. Finally, the extension of the active limbs, the active forces and passive forces are solved and modified.
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