DYNAMICS ANALYSIS OF A TWO-MODULE HYBRID PARALLEL MANIPULATOR
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2014, Vol 59, Issue 3
Abstract
Recursive matrix relations for dynamics analysis of a spatial two-module hybrid parallel manipulator are established in this paper. Knowing the relative motions of the moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations of parallel robots dynamics. Finally, compact results and graphs of simulation for the input forces and powers of six actuators are obtained.
Authors and Affiliations
Ştefan STAICU
Keywords
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