封面
声明
中文摘要
英文摘要
目录
Parameter
Chapter 1 Introduction
1.1 Background and Significance of the Research
1.2 The Current Research Status
1.3 Statement of Problem
1.4 Contents and Structure of Dissertation
Chapter 2 The Fundamental of Parallel Manipulator
2.1 Position of Parallel Manipulator
2.2 Structure Classification of Parallel Manipulator
2.3 Position Analysis of A General Stewart-Gough Platform
2.4 Jacobian Analysis of Parallel Manipulators
2.5 Kinematics of Parallel Manipulators
2.6 Dynamic of Parallel Manipulators
2.7 Position Control of Manipulator
2.8 Simulink
2.9 Summary
Chapter 3 Kinematics Analysis
3.1 The 6-DOF Parallel Manipulator Composition
3.2 Inverse Kinematic Analysis
3.3 Forward Kinematic Analysis
3.4 Summary
Chapter 4 Dynamic Modeling
4.1 The Dynamic Formulation Method
4.2 Setting up the Dynamic model
4.3 The Dynamic Model with Friction Force
4.4 Moving Platform Modeling
4.5 Cylinder Modeling
4.6 Piston Modeling
4.7 Servomotor Dynamics
4.8 Integrated System Equations
4.9 Summary
Chapter 5 Dynamic Control Algorithm
5.1 Feedback Control Scheme
5.2 The Implement of Joint Space Control Scheme
5.3 The New Technique Combining Features Sliding Mode Control and Joint Space Control
5.4 The Computer Model
5.5 Summary
Chapter 6 Simulation Results and Model Validation
6.1 The New Dynamic Model Simulation Results and Analysis
6.2 Dynamic Model Validation
6.3 Summary
Conclusion
参考文献
Publication
致谢