Journal ArticleDOI
A New Approach for the Dynamic Analysis of Parallel Manipulators
Jiegao Wang,Clément Gosselin +1 more
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TLDR
The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.Abstract:
A new approach for the dynamic analysis of parallel manipulators is presented in this paper. This approach is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough–Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the results. The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.read more
Citations
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Journal ArticleDOI
A constraint embedding approach for dynamics modeling of parallel kinematic manipulators with hybrid limbs
TL;DR: In this article , a modular kinematic modeling approach is employed, where limbs are treated separately, and the individual dynamic equations of motions (EOM) are subsequently assembled to the overall model.
Proceedings ArticleDOI
Dynamics formulation and motion control of a planar parallel manipulator
TL;DR: A computed torque control scheme is applied for the motion control of the robot using a model of the mechanism made on simulation software for a predefined trajectory and the results of the motion tracking indicates the suitable performance of the implemented control scheme.
Journal ArticleDOI
Study of the effects of link tolerances to estimate mechanical errors in 3-RRS parallel manipulator:
Anshul Jain,H. P. Jawale +1 more
TL;DR: Mechanical error estimation under the effects of link tolerances in a 3-degree-of-freedom (DoF) 3-RRS Spatial Parallel Manipulator (SPM) and position level kinematic analysis is presented.
Proceedings ArticleDOI
Vibration damping modeling of Stewart platform through Newton-Euler approach
P. Xu,D. H. Wang +1 more
TL;DR: In this paper, a closed-form dynamic model of a 6-UPS (universal-prismatic-spherical) Stewart platform suitable for modeling and analyzing the vibration damping of the 6UPS Stewart platform based systems is developed through Newton-Euler dynamic approach.
Journal ArticleDOI
Selection of optimal machining parameters for hexapod machine tool.
S. Muruganandam,S. Pugazhenthi +1 more
TL;DR: In this paper, a methodology is presented to select optimal machining parameters for hexapod machine tools using Particle Swarm Optimization (PSO) for profile-milling.
References
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Journal ArticleDOI
A Platform with Six Degrees of Freedom
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Journal ArticleDOI
A Stewart-Platform based manipulator: general theory and practical construction
TL;DR: The Stewart Platform is one example of a parallel connection robot manipulator as discussed by the authors, and it has been used extensively in the past several years for a variety of tasks in the field of robotics.
Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.