Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Parallel Robots
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
Inverse dynamics of the 3-PRR planar parallel robot
Robotics and Autonomous Systems
Dynamic modelling of a serial manipulator on vector fields
AsiaMS '07 Proceedings of the IASTED Asian Conference on Modelling and Simulation
Hybrid head mechanism of the groundhog-like mine rescue robot
Robotics and Computer-Integrated Manufacturing
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In this paper, a simple and convenient method – Recursive Matrix method – is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example – a 3-DOF parallel manipulator with prismatic actuators – is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With the inverse kinematic solutions, the inverse dynamic problem is solved with the virtual powers method. Matrix relations and graphs of the acting forces and powers for all actuators are analysis and determined. It is shown that the proposed method is an effective mean for kinematic and dynamic modelling of parallel mechanisms.