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- W3087690570 abstract "To improve tracking precision against complex external forces in the working environment, dynamic model-based control algorithms are widely used in tracking mechanisms. As a foundation of the real-time dynamic control system, this paper focuses on the complete predicted dynamic modelling and dynamic parameter identification of a 2-DoF over-constrained tracking parallel mechanism. Firstly, the kinematic model is obtained by differential mapping of the topology models based on finite and instantaneous screws (FIS). Referred to virtual work principle, dynamic equation is constructed. To reduce the computation cost in practice, a linear model involving inertial and friction parameters is formulated for dynamic identification. A direct identification method is applied and all the parameters are obtained at the same time. Experiments are performed to show the accuracy and efficiency of the identification results. The contributions of the paper lie in 1) a concise method for constructing velocity and acceleration models of components is provided without tedious analysis 2) complete dynamic model of an over-constrained tracking parallel mechanism is developed 3) practical dynamic identification process is carried out compromising between precision and efficiency." @default.
- W3087690570 created "2020-09-25" @default.
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- W3087690570 date "2021-01-01" @default.
- W3087690570 modified "2023-09-30" @default.
- W3087690570 title "Dynamic identification of a tracking parallel mechanism" @default.
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- W3087690570 doi "https://doi.org/10.1016/j.mechmachtheory.2020.104091" @default.
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