Dynamics of parallel manipulators by means of screw theory

Autor:	Massimo Bergamasco, Antonio Frisoli, D. Checcacci, J. Gallardo, J.M. Rico
Jazyk:	angličtina
Rok vydání:	2003
Předmět:	Generality Engineering business.industry Mechanical Engineering Dynamics (mechanics) Bioengineering Function (mathematics) Computer Science Applications Computer Science::Robotics Mechanism (engineering) Mechanics of Materials Control theory Screw theory Trajectory Virtual work business Actuator
Popis:	An approach to the dynamic analysis of parallel manipulators is presented. The proposed method, based on the theory of screws and on the principle of virtual work, allows a straightforward calculation of the actuator forces as a function of the external applied forces and the imposed trajectory. In order to show the generality of such a methodology, two case studies are developed, a 2-DOF parallel spherical mechanism and a Gough–Stewart platform. 2003 Elsevier Ltd. All rights reserved.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d3ca038efd812b06f0eac79b2053e3c8 http://hdl.handle.net/11382/200155 Zobrazit plný text záznamu