کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802348 1467765 2013 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Linear dynamic modeling of parallel kinematic manipulators from observable kinematic elements
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Linear dynamic modeling of parallel kinematic manipulators from observable kinematic elements
چکیده انگلیسی


• We present a linear method for kinematic and dynamic modeling of parallel robots.
• This method is simple, compact and clear.
• The method is applicable to many parallel robots.
• This method uses a body-oriented representation of rectilinear kinematic structures.
• It is based on observable kinematic elements forming the robot legs.

This paper presents a linear method for kinematic and dynamic modeling of parallel kinematic manipulators. This method is simple, compact and clear. One can write all the equations from the beginning till the end with pen and paper. It is thus well suited to mechanical understanding and computer implementation. We can apply it to many parallel robots. This method relies on a body-oriented representation of observable rectilinear kinematic structures (kinematic elements) which form the robot legs.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 69, November 2013, Pages 73–89
نویسندگان
, , ,