Dynamic Modeling of Vacuum Robots Based on Natural Orthogonal Complement
HUANG Yuchuan1,2, QU Daokui1,3, XU Fang1,3
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Graduate University of Chinese Academy of Sciences, Beijing 110049, China;
3. SIASUN Robot & Automation Co, Ltd, Shenyang 110168, China
Based on the natural orthogonal complement, a concise dynamic model of vacuum parallel robots is calculated. Firstly, the solutions of kinematics and inverse kinematics are obtained by establishing an equivalent serial model of the vacuum parallel robots. Then, the dynamic model of vacuum robots is given based on natural orthogonal complement. By simulation，the feasibility and the availability of this method are proved.
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