Dynamic modeling and validation of a tripod-based machine tool

Bi, Zhuming; Lang, Sherman Y. T.; Verner, Marcel

doi:10.1007/s00170-007-0980-5

Cited by 6 publications

(1 citation statement)

References 22 publications

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“…Geng et al [16] developed Lagrange equations of motion under some simplifying assumptions regarding the geometry and inertia distribution of the manipulator. An interesting dynamic modelling is validated by Bi, Lang and Verner for the specific case of a tripod-based machine tool [35].…”

Section: Dynamic Modellingmentioning

confidence: 99%

Inverse dynamics of a 3-PRC parallel kinematic machine

Staicu

2011

Nonlinear Dyn

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Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolutecylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot's elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.

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Section: Dynamic Modellingmentioning

confidence: 99%