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Inverse Dynamics of a 3-P[2(US)] Translational Parallel Robot

Published online by Cambridge University Press:  26 December 2018

Mahmood Mazare
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: [email protected]
Mostafa Taghizadeh*
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: [email protected]
M. Rasool Najafi
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: [email protected] Department of Mechanical Engineering, University of Qom, Qom, Iran E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]

Summary

In this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange’s approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations.

Type
Articles
Copyright
Copyright © Cambridge University Press 2018 

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