Finding the Generalized Forces of a Series-Parallel Manipulator

International Journal of Advanced Robotic Systems

关键词: Parallel manipulator;    Virtual work;    Klein form;    Screw theory;    Dynamics;   

DOI  :  10.5772/53824

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.

【 授权许可】

CC BY