Title :
Rigid vs. flexible links dynamic analysis of a 3DOF parallel robot
Author :
Nadia Ramona Rat;Mircea Neagoe
Author_Institution :
University `Transilvania? of Brasov, Department of Product Design and Robotics
fDate :
6/1/2009 12:00:00 AM
Abstract :
The paper presents the dynamic modeling of a 3 DOF parallel robot of type 1PRRR+2PRPaR. Kinematical and dynamical analytical models using Lagrange formulation with multipliers in rigid links hypothesis are carried out, followed by numerical simulation of the rigid vs. flexible links robot models. The flexible links models are derived using AutoFlex module from ADAMS software. Finally, relevant conclusions regarding the dynamic behavior of the 3 DOF parallel robots are presented.
Keywords :
"Parallel robots","Kinematics","Manipulator dynamics","Analytical models","Lagrangian functions","Equations","Numerical simulation","Ecosystems","Product design","Electronic mail"
Conference_Titel :
Digital Ecosystems and Technologies, 2009. DEST ´09. 3rd IEEE International Conference on
Print_ISBN :
978-1-4244-2345-3
Electronic_ISBN :
2150-4946
DOI :
10.1109/DEST.2009.5276749
