Dynamics of parallel manipulators by means of screw theory
Dynamics of parallel manipulators by means of screw theory
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DOI：
10.1016/s0094-114x(03)00054-5
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发表时间：
2003-11-01
影响因子：
5.2
通讯作者：
Bergamasco, M
中科院分区：
文献类型：
--
作者：
Gallardo, J;Rico, JM;Bergamasco, M
提出了一种并联机器人动力学分析的方法。所提出的方法，螺旋理论和虚功原理的基础上，允许一个简单的计算的致动器的力作为外部施加的力和施加的轨迹的函数。为了显示这种方法的通用性，开发了两个案例研究，一个2-DOF并联球面机构和Gough-Stewart平台。(C)2003 Elsevier Ltd.保留所有权利。
An approach to the dynamic analysis of parallel manipulators is presented. The proposed method, based on the theory of screws and on the principle of virtual work, allows a straightforward calculation of the actuator forces as a function of the external applied forces and the imposed trajectory. In order to show the generality of such a methodology, two case studies are developed, a 2-DOF parallel spherical mechanism and a Gough-Stewart platform. (C) 2003 Elsevier Ltd. All rights reserved.