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Finding the Generalized Forces of a Series-Parallel Manipulator : Identificazione delle forze generalizzate di un manipolatore seriale-parallelo, in: International Journal of Advanced Robotic Systems

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Autor Garcia-Murillo, Mario; Gallardo-Alvarado, Jaime; Castillo-Castaneda, E.
Publicat  InTech Open Access Publisher, 2013
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Abstract 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.
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32676009.html
PDF FaviconPDF  Finding the Generalized Forces of a Series-Parallel Manipulator
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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