Title :
Inverse dynamics of 3-RRRT parallel manipulator
Author :
Zhao, Xinhua ; Li, Bin
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin
fDate :
Nov. 30 2008-Dec. 3 2008
Abstract :
This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic formula of the manipulator is gotten by the combination of screw theory and the principle of virtual work, Finally, numerical examples are reported.
Keywords :
inverse problems; manipulator dynamics; manipulator kinematics; motion control; 3-RRRT parallel manipulator kinematic analysis; generalized moving force platform; inverse 3-RRRT parallel manipulator dynamics; screw theory; three translational degrees-of-freedom; Bars; Costs; Fasteners; Jacobian matrices; Kinematics; Lagrangian functions; Manipulator dynamics; Manufacturing; Mechanical engineering; Paper technology;
Conference_Titel :
Circuits and Systems, 2008. APCCAS 2008. IEEE Asia Pacific Conference on
Conference_Location :
Macao
Print_ISBN :
978-1-4244-2341-5
Electronic_ISBN :
978-1-4244-2342-2
DOI :
10.1109/APCCAS.2008.4746131
