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Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator.
- Source :
- Robotica; Mar2016, Vol. 34 Issue 3, p687-702, 16p
- Publication Year :
- 2016
-
Abstract
- The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 02635747
- Volume :
- 34
- Issue :
- 3
- Database :
- Complementary Index
- Journal :
- Robotica
- Publication Type :
- Academic Journal
- Accession number :
- 112683660
- Full Text :
- https://doi.org/10.1017/S0263574714001817