Computer-aided analysis of mechanical systems
Computer-aided analysis of mechanical systems
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms
Theory of Applied Robotics: Kinematics, Dynamics, and Control
Theory of Applied Robotics: Kinematics, Dynamics, and Control
The kinematic design of spatial, hybrid closed chains including planar parallelograms
Robotics and Computer-Integrated Manufacturing
A novel parallel 2-DOF spherical mechanism with one-to-one input-output mapping
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
Intermediate Dynamics: A Linear Algebraic Approach
Intermediate Dynamics: A Linear Algebraic Approach
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It is presented a comprehensive approach for the static analysis of spatial parallel manipulators using the principle of virtual work, equipped with a recursive and systematic formulation, which is intended for conducting an efficient manipulation of the kinematics associated with the problem. Thus, it is possible omitting all internal forces and nonworking external constraint forces in the problem formulation. As a result, the actuator drive forces and/or torques can be directly related with the external loads supported by the manipulator, including the weight of the mobile platform and also the weight of the links of the connecting legs. A thorough understanding of these forces and/or torques is important for proper sizing of actuators at the design stage. In order to prove the feasibility and the validity of the proposed method, two fully detailed examples are presented.