Dynamic Modelling of a 3DOF Medical Parallel Robot with One Decoupled Motion

Abstract:

The paper presents the dynamic modeling of a 3DOF parallel robot of 1PRRR+2PRPaR type using the Lagrange multipliers method in the rigid link assumption. Numerical simulations of the analytical dynamic model, developed using Maple software, on representative trajectories are carried out and these results are finally validated trough numerical simulations in the MBS ADAMS software. Final conclusions are drawn, useful for researchers and practitioners in the robotic field.

• Periodical: Advanced Materials Research (Volume 837)
• Pages: 594-599
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.837.594
• Online since: November 2013
• Authors: Mircea Neagoe*, Nadia Cretescu, Radu G. Saulescu
• Keywords: Dynamic Modeling, Lagrange Multipliers Method, Medical Robot, Numerical Simulation, Parallel Robot

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