OTHER
Dynamic Modeling of Overconstrained Parallel Robot
Jian Yang, Zhen Tao Liu, Jian Sun
- Year
- 2013
- Citations
- 3
Abstract
The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.
Keywords
Inverse kinematicsParallel manipulatorRobotVirtual workKinematicsComputer scienceInverseRobot kinematicsTree (set theory)Robot calibration
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