INVERSE DYNAMICS OF A TRANSLATION-ROTATION HYBRID PARALLEL ROBOT
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2017, Vol 62, Issue 1
Abstract
Matrix relations for dynamics analysis of a spatial two-module hybrid parallel manipulator are established in this paper. Knowing the relative motions of two serially connected moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations of parallel robots dynamics. Finally, compact results and graphs of simulation for the input forces and powers of six actuators are obtained.
Authors and Affiliations
Ştefan STAICU, ANDREI CRAIFALEANU
Keywords
Related Articles
- EP ID EP302291
- DOI -
- Views 57
- Downloads 0
ON THE GEOMETRY OF THE HOMOGENEOUS REPRESENTATION FOR THE GROUP OF PROPER RIGID-BODY DISPLACEMENTS
This work investigates the geometry of the homogeneous representation of the group of proper rigid-body displacements. In particular it is shown that there is a birationaltransformationfromtheStudyquadrictothevarietydete...
INTERNAL FORCES IN DYNAMICS OF A TRANSLATIONAL 3-PUU PARALLEL ROBOT
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 recu...
KINEMATIC DESIGN OF 3-RPSR PARALLEL MECHANISM FOR MOVABLE-DIE DRIVE MECHANISM OF PIPE BENDER
The authors have been developing a pipe bender which fabricates pipes of three-dimensional complex shapes from straight pipes based on the penetration bending method. This bender is composed of a movable die supported by...
HELICAL SPRING WITH VARIABLE WIRE DIAMETER
The geometrical and functional particularities of helical springs with variable wire diameter are studied in this paper. The spring’s characteristic is determined by two factors. On one hand, by the minimum distance betw...
A PREISACH MODEL FOR HYSTERETIC DESCRIPTION OF NATURAL MAIZE COMPOSITES
The work is focused on the hysteretic behavior of a composite made out of stalk based maize fiber and unsaturated polyester resin polymer as matrix with methyl ethyl ketone peroxide as a catalyst and Cobalt Octoate as a...