Dynamics of a 2(3-RRPS) parallel manipulator

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

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5 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings
EditorialIEEE Computer Society
Páginas270-275
Número de páginas6
ISBN (versión impresa)9781467355117
DOI
EstadoPublicada - 2013
Publicado de forma externa
Evento9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Wasowo, Polonia
Duración: 3 jul. 20135 jul. 2013

Serie de la publicación

Nombre9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings

Conferencia

Conferencia9th International Workshop on Robot Motion and Control, RoMoCo 2013
País/TerritorioPolonia
CiudadWasowo
Período3/07/135/07/13

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