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

fYear

2013

fDate

3-5 July 2013

Firstpage

270

Lastpage

275

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control (RoMoCo), 2013 9th Workshop on

Conference_Location

Kuslin

Print_ISBN

978-1-4673-5510-0

Type

conf

DOI

10.1109/RoMoCo.2013.6614620

Filename

6614620