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Dynamic Modelling of a 3-DOF Parallel Manipulator Using Recursive Matrix Relations

Domenii publicaţii > Stiinte ingineresti + Tipuri publicaţii > Articol în revistã ştiinţificã

Autori: St. Staicu, D. Zhang, R. D. Rugescu

Editorial: Cambridge Univ. Press, Robotica, 24, p.125-130, 2005.

Rezumat:

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.

Cuvinte cheie: Recursive matrix; Dynamic modelling;Complex manipulators; Parallel mechanisms

URL: http://www.robotica.uk