A closed-form formulation for the inverse dynamics of a Cassino Parallel Manipulator

被引：19
|
作者：
Carvalho, JCM
Ceccarelli, M
机构：
[1] Univ Fed Uberlandia, Dept Engn Mecan, BR-38400089 Uberlandia, MG, Brazil
[2] Univ Cassino, Dipartimento Meccan Strutture Ambiente & Terr, I-03043 Cassino, FR, Italy
来源：
MULTIBODY SYSTEM DYNAMICS | 2001年 / 5卷 / 02期
关键词：
robot dynamics; parallel manipulators; dynamic simulation;
D O I：
10.1023/A:1009845926734
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper we have presented an analytical model for the dynamics of a CaPaMan (Cassino Parallel Manipulator). The peculiar kinematic chain and symmetry properties of CaPaMan architecture have been useful to formulate the Newton-Euler equations in a closed-form in order to compute the input torques, which are necessary for a given motion trajectory of movable platform. Results of numerical simulations have been reported to prove the soundness of the proposed formulation and will be used for experimental validation of the prototype built in Cassino.
引用
收藏
页码：185 / 210
页数：26
相关论文
共 50 条
  • [1] A Closed-Form Formulation for the Inverse Dynamics of a Cassino Parallel Manipulator
    João Carlos Mendes Carvalho
    Marco Ceccarelli
    [J]. Multibody System Dynamics, 2001, 5 : 185 - 210
  • [2] Erratum. A Closed Form Formulation for the Inverse Dynamics of Cassino Parallel Manipulator
    João Carlos Mendes Carvalho
    Marco Ceccarelli
    [J]. Multibody System Dynamics, 2001, 6 (3) : 303 - 304
  • [3] Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work
    Siamak Pedrammehr
    Saeid Nahavandi
    Hamid Abdi
    [J]. Acta Mechanica Sinica, 2018, 34 : 883 - 895
  • [4] Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work
    Pedrammehr, Siamak
    Nahavandi, Saeid
    Abdi, Hamid
    [J]. ACTA MECHANICA SINICA, 2018, 34 (05) : 883 - 895
  • [5] An optimum path planning for Cassino Parallel Manipulator by using inverse dynamics
    Carbone, G.
    Ceccarelli, M.
    Oliveira, P. J.
    Saramago, S. E. P.
    Carvalho, J. C. M.
    [J]. ROBOTICA, 2008, 26 : 229 - 239
  • [6] Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle
    Guiyang Xin
    Hua Deng
    Guoliang Zhong
    [J]. Nonlinear Dynamics, 2016, 86 : 1329 - 1347
  • [7] Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle
    Xin, Guiyang
    Deng, Hua
    Zhong, Guoliang
    [J]. NONLINEAR DYNAMICS, 2016, 86 (02) : 1329 - 1347
  • [8] Closed-form solution for direct and inverse kinematic models of a parallel manipulator for robotic orbital welding
    Eduardo José Lima
    Henrique Augusto de Matos Souza
    Kassio Maciel Kienitz
    Frederico Allevato Ramalho Filho
    [J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2020, 42
  • [9] Closed-form solution for direct and inverse kinematic models of a parallel manipulator for robotic orbital welding
    Lima, Eduardo Jose, II
    de Matos Souza, Henrique Augusto
    Kienitz, Kassio Maciel
    Ramalho Filho, Frederico Allevato
    [J]. JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, 2020, 42 (01)
  • [10] A closed-form optimal kinematic design of the PRRRP parallel manipulator
    Liu, Xin-Jun
    Wang, Jinsong
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C, 2005, : 1025 - 1030
12345