Inverse dynamics of the HALF parallel manipulator with revolute actuators |
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Authors: | Stefan Staicu Xin-Jun Liu Jinsong Wang |
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Institution: | (1) Department of Mechanics, University “Politehnica” of Bucharest, Bucharest, Romania;(2) Department of Precision Instruments, Institute of Manufacturing Engineering, Tsinghua University, Beijing, 100084, P.R. China |
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Abstract: | Recursive matrix relations for kinematics and dynamics of the HALF parallel manipulator are presented in this paper. The prototype
of this robot is a spatial mechanism with revolute actuators, which has two translation degrees of freedom and one rotation
degree of freedom. The parallel manipulator consists of a base plate, a movable platform and a system of three connecting
legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating
devices where high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse
dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the
torques and powers for all actuators are analysed and determined. It is shown that this approach is an effective means for
kinematics and dynamics modelling of parallel mechanisms. |
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Keywords: | Dynamics Kinematics Parallel manipulator Platform Virtual power |
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