INTERNAL FORCES IN DYNAMICS OF A TRANSLATIONAL 3-PUU PARALLEL ROBOT
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2016, Vol 61, Issue 3
Abstract
Matrix relations in dynamics analysis of a spatial 3-PUU translational parallel manipulator are established in this paper. Giving the evolution of the platform, an inverse dynamic problem is solved based on a set of recursive explicit equations. Finally, compact relations and graphs of simulation for the input forces of three actuators and also for some internal joint forces are obtained.
Authors and Affiliations
YANGMIN LI, QINGSONG XU, STEFAN STAICU
Keywords
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