Inverse dynamics of a 3-PRC parallel kinematic machine |
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Authors: | Yangmin Li Stefan Staicu |
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Institution: | (1) Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), Oshawa, ON, Canada |
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Abstract: | Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel
kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the
inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the
inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework
of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation
for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism
is made mainly to solve successfully the control of the motion of such robotic system. |
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Keywords: | |
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