Title :
Direct and Inverse Dynamics Modeling of a 6-PUS Parallel Robot
Author :
Ruiz-Garcia, Javier ; Chaparro-Altamirano, Daniel ; Zavala-Yoe, Ricardo ; Ramirez-Mendoza, Ricardo
Author_Institution :
Escuela de Diseno, Ing. y Arquitectura, Inst. Tecnol. y de Estudios Super. de Monterrey, Monterrey, Mexico
Abstract :
The six prismatic-universal-spherical (6-PUS) parallel robot is studied. The dynamic model presented by Merlet [1] is analyzed, and it is shown that since the model does not take into account the reaction forces, given a certain arrangement of the legs, the model presented by Merlet fails. Additions to the model are made in order to take the reaction forces into account. With these additions, both the inverse and direct dynamic models are obtained.
Keywords :
manipulator dynamics; manipulator kinematics; robot dynamics; 6-PUS parallel robot; direct dynamics modeling; dynamic model; inverse dynamics modeling; reaction forces; six-prismatic-universal-spherical parallel robot; Acceleration; Dynamics; Equations; Force; Mathematical model; Robots; Vectors; direct dynamics; inverse dynamics; parallel robot;
Conference_Titel :
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2013 International Conference on
Conference_Location :
Morelos
Print_ISBN :
978-1-4799-2252-9
DOI :
10.1109/ICMEAE.2013.8
