TY - JOUR
T1 - Finding the generalized forces of a series-parallel manipulator
AU - Garcia-Murillo, Mario
AU - Gallardo-Alvarado, Jaime
AU - Castillo-Castaneda, Eduardo
PY - 2013/1/1
Y1 - 2013/1/1
N2 - In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.
AB - In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.
KW - Dynamics
KW - Klein form
KW - Parallel manipulator
KW - Screw theory
KW - Virtual work
UR - http://www.scopus.com/inward/record.url?scp=84872916397&partnerID=8YFLogxK
U2 - 10.5772/53824
DO - 10.5772/53824
M3 - Artículo
SN - 1729-8806
VL - 10
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
M1 - 2
ER -