Inverse Dynamics of 2UPS-RPU Parallel Mechanism by Newton-Euler Formation

Autor:	Ting Li Yang, Wen Hua Wang, Zhi You Feng
Rok vydání:	2010
Předmět:	Inverse kinematics Mathematical analysis Inverse Motion (geometry) General Medicine Inverse dynamics Moment (mathematics) Constraint (information theory) Mechanism (engineering) symbols.namesake Classical mechanics Euler's formula symbols Mathematics
Zdroj:	Applied Mechanics and Materials. :738-743
ISSN:	1662-7482
DOI:	10.4028/www.scientific.net/amm.29-32.738
Popis:	2UPS-RPU is a new 4-DOF parallel mechanism with serial input limb. In this paper, the inverse dynamic equation of this mechanism is formulated by Newton-Euler formation based on each limb and moving platform as the studying objects. The inverse kinematics of the mechanism is analyzed. The driving force, driving moment and the constraint moment can be obtained. Finally, a computer simulation is carried out to solve the inverse dynamics of the mechanism when the motion of moving platform is given.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::082d067566422e7332f3d2823c3d86d9 https://doi.org/10.4028/www.scientific.net/amm.29-32.738 Zobrazit plný text záznamu