DocumentCode
674848
Title
Direct and Inverse Dynamics Modeling of a 6-PUS Parallel Robot
Author
Ruiz-Garcia, Javier ; Chaparro-Altamirano, Daniel ; Zavala-Yoe, Ricardo ; Ramirez-Mendoza, Ricardo
Author_Institution
Escuela de Diseno, Ing. y Arquitectura, Inst. Tecnol. y de Estudios Super. de Monterrey, Monterrey, Mexico
fYear
2013
fDate
19-22 Nov. 2013
Firstpage
21
Lastpage
26
Abstract
The six prismatic-universal-spherical (6-PUS) parallel robot is studied. The dynamic model presented by Merlet [1] is analyzed, and it is shown that since the model does not take into account the reaction forces, given a certain arrangement of the legs, the model presented by Merlet fails. Additions to the model are made in order to take the reaction forces into account. With these additions, both the inverse and direct dynamic models are obtained.
Keywords
manipulator dynamics; manipulator kinematics; robot dynamics; 6-PUS parallel robot; direct dynamics modeling; dynamic model; inverse dynamics modeling; reaction forces; six-prismatic-universal-spherical parallel robot; Acceleration; Dynamics; Equations; Force; Mathematical model; Robots; Vectors; direct dynamics; inverse dynamics; parallel robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on
Conference_Location
Morelos
Print_ISBN
978-1-4799-2252-9
Type
conf
DOI
10.1109/ICMEAE.2013.8
Filename
6713950
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