Dynamics modelling of a Stewart-based hybrid parallel robot

被引：14
|
作者：
Staicu, Stefan [1 ]
机构：
[1] Univ Politehn Bucuresti, Dept Mech, Bucharest, Romania
来源：
ADVANCED ROBOTICS | 2015年 / 29卷 / 14期
关键词：
connectivity relations; dynamics; hybrid parallel robot; kinematics; KINEMATIC ANALYSIS; MANIPULATOR; MECHANISMS; INVERSE;
D O I：
10.1080/01691864.2015.1023219
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based hybrid parallel robot are established in this paper. Knowing the relative motions of two moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations. Finally, compact results and graphs of simulation for the input forces and powers of all actuators are obtained.
引用
收藏
页码：929 / 938
页数：10
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