Dynamics of a 2(3-RRPS) parallel manipulator

Mario García-Murillo; Eduardo Castillo-Castaneda; Jaime Gallardo-Alvarado

doi:10.1109/RoMoCo.2013.6614620

Dynamics of a 2(3-RRPS) parallel manipulator

Mario García-Murillo, Eduardo Castillo-Castaneda, Jaime Gallardo-Alvarado

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.

Original language	English
Title of host publication	9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings
Publisher	IEEE Computer Society
Pages	270-275
Number of pages	6
ISBN (Print)	9781467355117
DOIs	https://doi.org/10.1109/RoMoCo.2013.6614620
State	Published - 2013
Externally published	Yes
Event	9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Wasowo, Poland Duration: 3 Jul 2013 → 5 Jul 2013

Publication series

Name	9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings

Conference

Conference	9th International Workshop on Robot Motion and Control, RoMoCo 2013
Country/Territory	Poland
City	Wasowo
Period	3/07/13 → 5/07/13

Keywords

Parallel manipulator
dynamics
generalized forces
kinematics
screw theory
virtual work

Access to Document

10.1109/RoMoCo.2013.6614620

Cite this

García-Murillo, M., Castillo-Castaneda, E., & Gallardo-Alvarado, J. (2013). Dynamics of a 2(3-RRPS) parallel manipulator. In 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings (pp. 270-275). Article 6614620 (9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings). IEEE Computer Society. https://doi.org/10.1109/RoMoCo.2013.6614620

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title = "Dynamics of a 2(3-RRPS) parallel manipulator",

abstract = "In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.",

keywords = "Parallel manipulator, dynamics, generalized forces, kinematics, screw theory, virtual work",

author = "Mario Garc{\'i}a-Murillo and Eduardo Castillo-Castaneda and Jaime Gallardo-Alvarado",

year = "2013",

doi = "10.1109/RoMoCo.2013.6614620",

language = "Ingl{\'e}s",

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publisher = "IEEE Computer Society",

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booktitle = "9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings",

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note = "9th International Workshop on Robot Motion and Control, RoMoCo 2013 ; Conference date: 03-07-2013 Through 05-07-2013",

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García-Murillo, M, Castillo-Castaneda, E & Gallardo-Alvarado, J 2013, Dynamics of a 2(3-RRPS) parallel manipulator. in 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings., 6614620, 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings, IEEE Computer Society, pp. 270-275, 9th International Workshop on Robot Motion and Control, RoMoCo 2013, Wasowo, Poland, 3/07/13. https://doi.org/10.1109/RoMoCo.2013.6614620

Dynamics of a 2(3-RRPS) parallel manipulator. / García-Murillo, Mario; Castillo-Castaneda, Eduardo; Gallardo-Alvarado, Jaime.
9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings. IEEE Computer Society, 2013. p. 270-275 6614620 (9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - García-Murillo, Mario

AU - Castillo-Castaneda, Eduardo

AU - Gallardo-Alvarado, Jaime

PY - 2013

Y1 - 2013

N2 - In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.

AB - In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.

KW - Parallel manipulator

KW - dynamics

KW - generalized forces

KW - kinematics

KW - screw theory

KW - virtual work

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DO - 10.1109/RoMoCo.2013.6614620

M3 - Contribución a la conferencia

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SN - 9781467355117

T3 - 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings

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EP - 275

BT - 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings

PB - IEEE Computer Society

T2 - 9th International Workshop on Robot Motion and Control, RoMoCo 2013

Y2 - 3 July 2013 through 5 July 2013

ER -

García-Murillo M, Castillo-Castaneda E, Gallardo-Alvarado J. Dynamics of a 2(3-RRPS) parallel manipulator. In 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings. IEEE Computer Society. 2013. p. 270-275. 6614620. (9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings). doi: 10.1109/RoMoCo.2013.6614620

Dynamics of a 2(3-RRPS) parallel manipulator

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