• DocumentCode
    3633304
  • 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
  • fYear
    2009
  • fDate
    6/1/2009 12:00:00 AM
  • Firstpage
    534
  • Lastpage
    539
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Digital Ecosystems and Technologies, 2009. DEST ´09. 3rd IEEE International Conference on
  • ISSN
    2150-4938
  • Print_ISBN
    978-1-4244-2345-3
  • Electronic_ISBN
    2150-4946
  • Type

    conf

  • DOI
    10.1109/DEST.2009.5276749
  • Filename
    5276749
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3633304