INVERSE DYNAMICS OF A TRANSLATION-ROTATION HYBRID PARALLEL ROBOT
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2017, Vol 62, Issue 1
Abstract
Matrix relations for dynamics analysis of a spatial two-module hybrid parallel manipulator are established in this paper. Knowing the relative motions of two serially connected 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, ANDREI CRAIFALEANU
Keywords
Related Articles
- EP ID EP302291
- DOI -
- Views 61
- Downloads 0
SIZE EFFECT ON STIFFNESS AND PULL-OFF FORCE OF THERMALLY ACTUATED GOLD CANTILEVERS
This paper focuses on revealing the size effect on the mechanical behavior (i.e. bending stiffness, Young modulus, pull-off force) of gold cantilevers with lengths ranging from 190 µm to 490 µm. We investigated the tempe...
DYNAMICS MODELLING OF A PARALLEL FLIGHT SIMULATOR
Recursive matrix relations for dynamics analysis of a parallel manipulator, namely the spatial flight simulator, is established in this paper. Knowing the general motion of the platform, the inverse dynamics problem is s...
INFLUENCE OF BOUNDARY CONDITION ON CHANNEL SECTION COLUMN BEHAVIOUR
The FEM-based, numerical study of the influence of the boundary conditions on distorsional lateral buckling phenomena during bending of cold formed steel bars with different channel sections have been performed. Beams wi...
PROPERTIES OF THE ENTROPY AND INFORMATIONAL ENERGY FOR THE SOLUTIONS OF BLACK-SCHOLES EQUATIONS
This paper studies the properties of the solutions of some stochastic differential equations and Black-Scholes type equations, in the n-dimensional case Rn, from the point of view of informational energy and entropy asso...
CONSIDERATIONS ON ACTIVE REDUCTION NOISE, TREATMENT AND CONTROL DESIGN PERFORMANCE AT DIESEL GENERATOR
This paper discusses the methodology and results of a noise audit and active control testing on a portable single-cylinder diesel generator. Using a large microphone array, a spectral intensity map of all external surfac...