Coordinative dynamics analysis of a parallel manipulator with three grippers

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[1] [1,Lu, Yi
[2] Wang, Peng
[3] Hou, Zhuolei
[4] Bo, Hu
[5] Sui, Chunping
[6] Han, Jianda
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| 1600年 / Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada卷 / 29期
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A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First; the coordinative kinematics of this manipulator and three grippers are analyzed. Second; the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third; the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers; legs and platform. Finally; a numerical example is given for illustrating application of kinetostatic model and dynamics formulae; and the dynamics solutions of this manipulator are verified by simulation;
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