Inverse Kinematics and Dynamics of a 3-DOF Spatial Parallel Manipulator

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Recently the parallel manipulator with less DOFs has attracted industry and academia, but the research on its dynamics is still an open problem. In this paper, the inverse dynamic of a spatial parallel manipulator with two translational degrees of freedom and one rotational degree of freedom is studied based on the Newton-Euler approach. The kinematics analysis is firstly performed in a closed form. The inverse dynamic equation of this manipulator is formulated by using the Lagrange multiplier approach and choosing the Cartesian position and orientation as the generalized coordinates. Finally a numerical example is given for the kinematic and dynamic simulation of this manipulator. The model will be useful to improve the design of the mechanical components and the control algorithm.

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Periodical:

Edited by:

Mohamed Othman

Pages:

2280-2284

Citation:

J. X. Yang et al., "Inverse Kinematics and Dynamics of a 3-DOF Spatial Parallel Manipulator", Applied Mechanics and Materials, Vols. 229-231, pp. 2280-2284, 2012

Online since:

November 2012

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$38.00

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