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
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;
Conference_Titel :
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4577-1881-6
DOI :
10.1109/RVSP.2011.13
