NDLI: Matrix modeling of inverse dynamics of spatial and planar parallel robots

Content Provider	Springer Nature Link
Author	Staicu, Stefan
Copyright Year	2011
Abstract	Recursive matrix relations for kinematics and dynamics analysis of two known parallel mechanisms: the spatial 3-PRS and the planar 3-RRR are established in this paper. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities, and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, and the results can be verified in the framework of the Lagrange equations with their multipliers. Finally, compact matrix equations and graphs of simulation for power requirement comparison of each of three actuators in two different actuation schemes are obtained. For the same evolution of the moving platform, the power distribution upon the three actuators depends on the actuating configuration, but the total power absorbed by the set of three actuators is the same, at any instant, for both driving systems. The study of the dynamics of the parallel mechanisms is done mainly to solve successfully the control of the motion of such robotic systems.
Starting Page	239
Ending Page	265
Page Count	27
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	27
Issue Number	2
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-11-11
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Dynamics modeling Kinematics Lagrange equations Parallel mechanism Virtual work Electrical Engineering Optimization Vibration, Dynamical Systems, Control Automotive Engineering Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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