A novel dynamic modelling approach for parallel mechanisms analysis

Stefan Staicu; Dan Zhang

doi:10.1016/j.rcim.2006.09.001

A novel dynamic modelling approach for parallel mechanisms analysis

Stefan Staicu, Dan Zhang

Research output: Journal article publication › Journal article › Academic research › peer-review

92 Citations (Scopus)

Abstract

A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example.

Original language	English
Pages (from-to)	167-172
Number of pages	6
Journal	Robotics and Computer-Integrated Manufacturing
Volume	24
Issue number	1
DOIs	https://doi.org/10.1016/j.rcim.2006.09.001
Publication status	Published - Feb 2008
Externally published	Yes

Keywords

Dynamic model
Parallel mechanism
Recursive matrix method

ASJC Scopus subject areas

Control and Systems Engineering
Software
General Mathematics
Computer Science Applications
Industrial and Manufacturing Engineering

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10.1016/j.rcim.2006.09.001

Cite this

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abstract = "A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example.",

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AB - A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example.

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KW - Recursive matrix method

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A novel dynamic modelling approach for parallel mechanisms analysis

Abstract

Keywords

ASJC Scopus subject areas

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