TY - GEN
T1 - Dynamics of a 2(3-RRPS) parallel manipulator
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
UR - http://www.scopus.com/inward/record.url?scp=84887285654&partnerID=8YFLogxK
U2 - 10.1109/RoMoCo.2013.6614620
DO - 10.1109/RoMoCo.2013.6614620
M3 - Contribución a la conferencia
AN - SCOPUS:84887285654
SN - 9781467355117
T3 - 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings
SP - 270
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 -