Abstract
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot's elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.
| Original language | English |
|---|---|
| Pages (from-to) | 1031-1041 |
| Number of pages | 11 |
| Journal | Nonlinear Dynamics |
| Volume | 67 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1 Jan 2012 |
| Externally published | Yes |
Keywords
- Dynamics modelling
- Kinematics
- Lagrange equations
- Parallel kinematic machine
- Virtual work
ASJC Scopus subject areas
- Applied Mathematics
- Mechanical Engineering
- Aerospace Engineering
- Ocean Engineering
- Electrical and Electronic Engineering
- Control and Systems Engineering