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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yang Yu-wei Wang Shou-jun Xie Ning Ge Wei-min Li Bin |
| Copyright Year | 2014 |
| Description | Author affiliation: Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin, China (Yang Yu-wei; Wang Shou-jun; Ge Wei-min; Li Bin) || Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China (Xie Ning) |
| Abstract | It is since the shortcomings of a mobile manipulator in fields of height speed, large loading and precise tracking operation that a novel configuration manipulator of a wheeled suspension mobile parallel manipulator is presented. Based on multi-body dynamics, its inverse dynamic model is modeled in Cartesian Coordinate System under considering generality and integration of modeling approachs. Based on the inverse dynamic model, the energy consumption of driving motors is treated as an optimization goal to optimize some configuration parameters of the parallel manipulator. At last, the optimization algorithm is presented and verified by numeric simulations. |
| Starting Page | 1306 |
| Ending Page | 1311 |
| File Size | 273485 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479939787 |
| e-ISBN | 9781479939794 |
| DOI | 10.1109/ICMA.2014.6885888 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-08-03 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Manipulator dynamics Mobile communication Numerical models Mathematical model Vectors Optimization Configuration optimization Multi-body dynamics Inverse dynamic Model |
| Content Type | Text |
| Resource Type | Article |
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