Title :
Dynamic analysis of Clavel´s Delta parallel robot
Author :
Carp-Ciocardia, D.C.
Abstract :
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Keywords :
inverse problems; manipulator dynamics; manipulator kinematics; matrix algebra; Clavels delta parallel robot; active couple moments; active couple powers; graph theory; inverse dynamic problem; iterative matrix relations; manipulator; platform position; recursive matrix; robot dynamic analysis; robot geometric analysis; robot kinematic analysis; spatial mechanism; three degree of freedom; translation motion; virtual powers method; Acceleration; Bars; Engines; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Parallel robots; Prototypes; Tensile stress;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242230
