Inverse Dynamics Formulation and Analysis of a Parallel Manipulator with 3DOFs Based on the Virtual Work Principle

Yong Gang Li; Li Xin Xu; Hui Wang

doi:10.4028/www.scientific.net/AMM.455.360

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 455Inverse Dynamics Formulation and Analysis of a...

Inverse Dynamics Formulation and Analysis of a Parallel Manipulator with 3DOFs Based on the Virtual Work Principle

Abstract:

Dynamics formulation is a primary task for dynamic optimization, control strategy design and servomotor parameters estimation of the parallel manipulator (PM). In this paper, by using the simple operation form of reciprocal screw and Lie Algebra, the compact expressions of complete Jacobian and Hessian matrix are derived. Then the inverse dynamics of 3PRS parallel manipulator is formulated based on the efficient principle of virtual work. In this model, the generalized forces of both actuation and constraint can be solved. Finally, a numerical simulation example is given to demonstrate this simple yet effective approach.

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Periodical:

Applied Mechanics and Materials (Volume 455)

Pages:

360-365

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.455.360

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Online since:

November 2013

Authors:

Yong Gang Li*, Li Xin Xu, Hui Wang

Keywords:

Inverse Dynamics, Lie Algebra, Parallel Manipulator, Virtual Work

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