Inverse Dynamics of a 3-P[2(US)] Translational Parallel Robot
| Autor: | Mahmood Mazare, M. Rasool Najafi, Mostafa Taghizadeh |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science General Mathematics Parallel manipulator Equations of motion Inverse 02 engineering and technology Kinematics Degrees of freedom (mechanics) Computer Science Applications Inverse dynamics 020901 industrial engineering & automation Control and Systems Engineering Position (vector) 0202 electrical engineering electronic engineering information engineering Applied mathematics 020201 artificial intelligence & image processing Virtual work Software |
| Zdroj: | Robotica. 37:708-728 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | SummaryIn this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange’s approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations. |
| Databáze: | OpenAIRE |
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