Kinematic and Dynamic Analysis of 3-DOF Rotary Table Manipulator
作者单位：Digital and Nonlinear Control Systems LabElectrical Engineering DepartmentK.N.Toosi University of TechnologyTehranIran
会议名称：《2009中国控制与决策会议》
会议日期：2009年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：3-DOF Rotary Table Manipulator Gimbal Unit under Test Dynamic Equations
摘 要：正3-DOF Rotary Table manipulator is a robotic mechanism which brings about spatial rotational movements. This mechanism helps to make a movement scenario in order to test Guidance and Navigation Systems of moving *** has complicated dynamic equations which are crucial for control *** this paper,we study applicable kinematics of this ***,we choose the best kinematics and try to get the dynamic equations by applying the Newton’s Second Law for *** use the Newton’s Second Law instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler *** have extracted full dynamic equations that contain all designing parameters such as Moment of Inertia factor in all round and even the unbalanced and wobble *** we have verified obtained equations by simulation.