Mechanics of turin parallel robot

Sorli, Massimo; Ferraresi, Carlo; Kolarski, Maja; Borovać, Branislav; Vukobratović, Miomir

doi:10.1016/0094-114x(96)00023-7

Cited by 40 publications

(22 citation statements)

References 8 publications

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“…In a context of control, the recursive matrix relations, represented by Equations (20) and (21), given by the dynamic simulation, represent a set of explicit equations that can easily be transformed into a model for automatic command of the HALF parallel manipulator.…”

Section: Discussionmentioning

confidence: 99%

“…Kane and Levinson [19] obtained some vector recursive relations concerning the equilibrium of generalized forces that are applied to a serial manipulator. Sorli et al [20] conducted the dynamics modelling for Turin parallel manipulator, though the mechanism has three identical legs, it has 6-DOFs. Geng et al [21] developed Lagrange's equations of motion under some simplifying assumptions regarding the geometry and inertia distribution of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

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Inverse dynamics of the HALF parallel manipulator with revolute actuators

Staicu

Liu

2006

Nonlinear Dyn

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Recursive matrix relations for kinematics and dynamics of the HALF parallel manipulator are presented in this paper. The prototype of this robot is a spatial mechanism with revolute actuators, which has two translation degrees of freedom and one rotation degree of freedom. The parallel manipulator consists of a base plate, a movable platform and a system of three connecting legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices where high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the torques and powers for all actuators are analysed and determined. It is shown that this approach is an effective means for kinematics and dynamics modelling of parallel mechanisms.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Staicu

Liu

2006

Nonlinear Dyn

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“…Now, we can calculate the friction forces and the friction torques in the joints, based on the friction coefficients and the maximum of the connecting forces in the joints. We apply again the explicit equations (19) and (20), where the contribution of the virtual work of friction forces in joints is added. The new active torques and input forces are compared to the values obtained in the first calculus.…”

Section: Equations Of Motionmentioning

confidence: 99%

“…The dynamics model expressed by the recursive matrix equations (19) and (20) represents the explicit dynamics equations of a constrained robotic system [28,29,33]. These equations are valid for any virtual displacement, giving the active forces f q,q−1 or the actuator torques m q,q−1 in terms of output forces.…”

Section: Equations Of Motionmentioning

confidence: 99%

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Explicit dynamics equations of the constrained robotic systems

Staicu

Liu

2009

Nonlinear Dyn

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Recursive matrix relations concerning the kinematics and the dynamics of a constrained robotic system, schematized by several kinematical chains, are established in this paper. Introducing frames and bases, we first analyze the geometrical properties of the mechanism and derive a general set of relations. Kinematics of the vector system of velocities and accelerations for each element of robot are then obtained. Expressed for every independent loop of the robot, useful conditions of connectivity regarding the relative velocities and accelerations are determined for direct or inverse kinematics problem. Based on the general principle of virtual powers, final matrix relations written in a recursive compact form express just the explicit dynamics equations of a constrained robotic system.an inverse dynamic problem, these equations are useful in fact for real-time control of a robot.

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Introduction

Staicu¹

2018

Parallel Robots: Theory and Applications

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Mechanics of turin parallel robot

Cited by 40 publications

References 8 publications

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Explicit dynamics equations of the constrained robotic systems

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