@inproceedings{6c605563f3df45748c54440a209a16a6,
title = "A dynamic modeling method for BKX-I PKM based on FEM",
abstract = "A modeling method of finite unit dynamics for 6-UPS parallel kinematic machine (PKM) was developed. After the BKX-I PKM was divided into 48 units, the dynamitic equation of individual unit was obtained in both the local coordinate and the entire coordinate systems on the basis of structure matrix analysis. The dynamic equations of all units were then integrated into an equation group in an entire coordinate system based on the continuous conditions of adjacent units. The modal analysis using these resultant equations was conducted, and the obtained results were compared with those of experiments. The comparison shows that the calculation precision of developed modeling method can meet the needs of the structure analysis for PKM. The utilization of this developed method could extend to similar robots.",
keywords = "Dynamics, PKM, Robotic design and architecture, Structure matrix",
author = "Li, {Jin Quan} and Tie Fu and Ding, {Hong Sheng} and Luan, {Zhen Xing}",
year = "2009",
language = "English",
isbn = "9780889868106",
series = "Proceedings of the IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009",
booktitle = "Proceedings of the IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009",
note = "IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009 ; Conference date: 12-10-2009 Through 14-10-2009",
}