NDLI: Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator

Content Provider	IEEE Xplore Digital Library
Author	Yu-Wen Li Jin-Song Wang Li-Ping Wang Xin-Jun Liu
Copyright Year	2003
Description	Author affiliation: Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China (Yu-Wen Li; Jin-Song Wang; Li-Ping Wang)
Abstract	Recently the parallel manipulators with less DOF have attracted the researchers, but works on their dynamics are relative few. In this paper, an inverse dynamic formulation is presented by the Newton-Euler approach for a spatial parallel manipulator, which has two translational degrees of freedom and one rotational degree of freedom. The inverse kinematics analysis is firstly performed in closed form. Then the force and moment equilibrium equations for the manipulator are presented. According to the kinematic constraints of the legs and the platform, some joint constraint forces are eliminated and an algorithm to solve the actuator forces is given. In addition, ADAMS is used to perform the kinematic and dynamic simulation for the manipulator. The simulation results are compared to those derived from algebraic formulae and the comparison shows the validity of the mathematical model.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	4092
Ending Page	4097
File Size	319518
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242226
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Inverse problems Aerodynamics Leg Equations Parallel robots Actuators Robot kinematics Aerospace engineering Mathematical model
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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