DocumentCode
2325758
Title
Inverse dynamics of 3-RRRT parallel manipulator
Author
Zhao, Xinhua ; Li, Bin
Author_Institution
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin
fYear
2008
fDate
Nov. 30 2008-Dec. 3 2008
Firstpage
745
Lastpage
749
Abstract
This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic formula of the manipulator is gotten by the combination of screw theory and the principle of virtual work, Finally, numerical examples are reported.
Keywords
inverse problems; manipulator dynamics; manipulator kinematics; motion control; 3-RRRT parallel manipulator kinematic analysis; generalized moving force platform; inverse 3-RRRT parallel manipulator dynamics; screw theory; three translational degrees-of-freedom; Bars; Costs; Fasteners; Jacobian matrices; Kinematics; Lagrangian functions; Manipulator dynamics; Manufacturing; Mechanical engineering; Paper technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 2008. APCCAS 2008. IEEE Asia Pacific Conference on
Conference_Location
Macao
Print_ISBN
978-1-4244-2341-5
Electronic_ISBN
978-1-4244-2342-2
Type
conf
DOI
10.1109/APCCAS.2008.4746131
Filename
4746131
Link To Document