Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator
Journal of Intelligent and Robotic Systems
A novel dynamic modelling approach for parallel mechanisms analysis
Robotics and Computer-Integrated Manufacturing
Recursive modelling in dynamics of Agile Wrist spherical parallel robot
Robotics and Computer-Integrated Manufacturing
Dynamics analysis of the Star parallel manipulator
Robotics and Autonomous Systems
An efficient two-step solution for vision-based pose determination of a parallel manipulator
Robotics and Computer-Integrated Manufacturing
Research on the inertia matching of the Stewart parallel manipulator
Robotics and Computer-Integrated Manufacturing
Robotics and Computer-Integrated Manufacturing
| Hi-index | 0.00 |
Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator's link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.