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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Wang, Qi-Ming Wang, Jinsong Liu, Xin-Jin Zhang, Hui |
| Abstract | This article discusses the kinematic and dynamic modeling of a new cylindrical parallel manipulator with two translational degrees of freedom and one rotational degree of freedom. The model of dynamics is based on the Lagrange approach. Six generalized coordinates and three Lagrange multipliers are introduced in the modeling process, and they are released by the corresponding constraint functions. A case is presented to illustrate the advantages of this mechanism. The simulation results indicate that the actuator torques of this parallel manipulator possess of good properties. This model will be useful to improve the design of the mechanical components and the control algorithm of this manipulator. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 887 |
| Ending Page | 891 |
| Page Count | 5 |
| File Format | |
| ISBN | 0791836253 |
| DOI | 10.1115/DETC2002/MECH-34304 |
| e-ISBN | 0791836037 |
| Volume Number | Volume 5: 27th Biennial Mechanisms and Robotics Conference |
| Conference Proceedings | ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2002-09-29 |
| Publisher Place | Montreal, Quebec, Canada |
| Access Restriction | Subscribed |
| Content Type | Text |
| Resource Type | Article |
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