Title :
Dynamics of a 2(3-RRPS) parallel manipulator
Author :
Garcia-Murillo, Mario ; Castillo-Castaneda, Eduardo ; Gallardo-Alvarado, Jaime
Author_Institution :
Centro de Investig. en Cienc. Aplic. y Tecnol. Avanzada, Santiago de Querétaro, Mexico
Abstract :
In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.
Keywords :
Lie algebras; manipulator dynamics; manipulator kinematics; 2(3-RRPS) parallel architecture manipulator dynamic analysis; 2(3-RRPS) parallel architecture manipulator kinematic analysis; ADAMS software; Klein form; Lie algebra; acceleration equations; input-output speed equations; screw theory; virtual work; Acceleration; Fasteners; Joints; Kinematics; Manipulator dynamics; Mobile communication; Parallel manipulator; dynamics; generalized forces; kinematics; screw theory; virtual work;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location :
Kuslin
Print_ISBN :
978-1-4673-5510-0
DOI :
10.1109/RoMoCo.2013.6614620
