DocumentCode
1983131
Title
Dynamic analysis of a Triglide parallel robot
Author
Rat, Nadia Ramona ; Neagoe, Mircea ; Diaconescu, Dorin ; Stan, Sergiu Dan
Author_Institution
Transilvania Univ. of Brasov, Brasov, Romania
fYear
2011
fDate
19-21 May 2011
Firstpage
245
Lastpage
249
Abstract
This paper presents the analytical dynamic modeling of a Triglide parallel robot and numerical simulation using Maple and Adams software. The Lagrange with multipliers method was successfully applied to develop the closed-form dynamic model using the Maple software. Next, an equivalent dynamic virtual model of the Triglide parallel robot was developed and simulated in ADAMS program on different task. The simulation of the theoretical dynamic models (closed-form model) and ADAMS numerical approach confirm the validity of the analytical dynamic model.
Keywords
digital simulation; robot dynamics; robot kinematics; Adams software; Maple software; Triglide parallel robot; analytical dynamic modeling; closed-form dynamic model; Analytical models; Joints; Kinematics; Mathematical model; Numerical models; Parallel robots; Solid modeling; Parallel robot; Triglide structure; dynamic model;
fLanguage
English
Publisher
ieee
Conference_Titel
Human System Interactions (HSI), 2011 4th International Conference on
Conference_Location
Yokohama
ISSN
2158-2246
Print_ISBN
978-1-4244-9638-9
Type
conf
DOI
10.1109/HSI.2011.5937373
Filename
5937373
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