کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5470792 | 1519382 | 2017 | 31 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton-Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Mathematical Modelling - Volume 51, November 2017, Pages 217-231
Journal: Applied Mathematical Modelling - Volume 51, November 2017, Pages 217-231
نویسندگان
Alaleh Arian, Behzad Danaei, Hamid Abdi, Saeid Nahavandi,