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
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