| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10677681 | Applied Mathematical Modelling | 2015 | 18 Pages |
Abstract
The unified inverse dynamics model of serial-parallel manipulators (S-PMs) formed by two parallel manipulators (PMs) connected in series is systematically established based on the constraint and the coupling characteristics of the single PMs in the S-PM. First, the common formulas for solving inverse kinematics of S-PMs is derived. Second, the inverse dynamics model is established based on the principle of virtual work. Finally, a novel (UPRÂ +Â RPSÂ +Â SPS)Â +Â (3-SPS/UP) S-PM is analyzed to illustrate the generality and effectiveness of the solving procedures.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Bo Hu, Jingjing Yu,