Abstract:The inverse dynamic model of a three-revolute-prismatic-spherical parallel robot based on Lagrange method is presented. This parallel robot presents a different configuration in the orientation of the actuators of the already reported in the literature. The dynamic model is validated by simulations obtained with a virtual prototype under MSC Automatic Dynamic Analysis of Mechanical Systems environment. For positioning the moving platform in a desired orientation, a proportional-integral-derivative-type control… Show more
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