DocumentCode
2807559
Title
The Active/Passive Forces Analyzing of a 4PUS/1RPU Parallel Manipulator
Author
Yang, Xiaojun ; Song, Xiaoke ; Li, Bing
Author_Institution
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
fYear
2011
fDate
21-23 Nov. 2011
Firstpage
268
Lastpage
271
Abstract
An approach to the static analysis of parallel manipulator with an unactuated leg is presented. The proposed method allows the calculation of active and passive forces as a function of the external forces applied on the moving platform. In order to show the feasibility of this methodology, a case of 4PUS+RPU parallel mechanism is developed.
Keywords
manipulator kinematics; 4PUS+RPU parallel mechanism; 4PUS-1RPU parallel manipulator; active-passive forces; static analysis; Equations; Force; Joints; Legged locomotion; Manipulator dynamics; Vectors; active/constrained forces; manipulator; unactuated leg;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location
Kaohsiung
Print_ISBN
978-1-4577-1881-6
Type
conf
DOI
10.1109/RVSP.2011.13
Filename
6114999
Link To Document