Inverse Dynamics of 2UPS-RPU Parallel Mechanism by Newton-Euler Formation

Wen Hua Wang; Zhi You Feng; Ting Li Yang

doi:10.4028/www.scientific.net/AMM.29-32.738

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 29-32Inverse Dynamics of 2UPS-RPU Parallel Mechanism by...

Inverse Dynamics of 2UPS-RPU Parallel Mechanism by Newton-Euler Formation

Abstract:

2UPS-RPU is a new 4-DOF parallel mechanism with serial input limb. In this paper, the inverse dynamic equation of this mechanism is formulated by Newton-Euler formation based on each limb and moving platform as the studying objects. The inverse kinematics of the mechanism is analyzed. The driving force, driving moment and the constraint moment can be obtained. Finally, a computer simulation is carried out to solve the inverse dynamics of the mechanism when the motion of moving platform is given.

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Periodical:

Applied Mechanics and Materials (Volumes 29-32)

Pages:

738-743

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.29-32.738

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Online since:

August 2010

Authors:

Wen Hua Wang, Zhi You Feng, Ting Li Yang

Keywords:

Inverse Dynamics, Newton-Euler Formation, Parallel Mechanism, Serial Input

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