CALCULUS OF JOINT FORCES IN DYNAMICS OF A 3-PRR PLANAR PARALLEL ROBOT
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2012, Vol 57, Issue 2
Abstract
Recursive matrix relations for the joint forces in dynamics of a planar 3-PRR parallel robot are established in this paper. Knowing the kinematics of the platform, we develop the inverse dynamic problem, using an approach based on the principle of virtual work. Some graphs of simulation for the internal joint forces are obtained.
Authors and Affiliations
Ştefan STAICU
Keywords
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