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Inverse Dynamics of a 3-P[2(US)] Translational Parallel Robot

Published online by Cambridge University Press:  26 December 2018

Mahmood Mazare,
Mostafa Taghizadeh and
M. Rasool Najafi
Mahmood Mazare
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.ir
Mostafa Taghizadeh*
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.ir
M. Rasool Najafi
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.irDepartment of Mechanical Engineering, University of Qom, Qom, Iran E-mail: mr.najafi@gom.ac.ir
*
*Corresponding author. E-mail: mo_taghizadeh@sbu.ac.ir
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Summary

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In this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange’s approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations.

Keywords

Kinematic modelingParallel robotDynamic modelingConstrained system equationsVirtual work

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 4 , April 2019, pp. 708 - 728
Copyright
Copyright © Cambridge University Press 2018 

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