Abstract:In this paper, a novel dynamical decoupled design of a two-dof differential belt-driven parallel robot is proposed. Equation of motion of the robot, including the inside mechanical properties of pulleys and sliders, are derived by the symbolic multibody dynamics system (MBD) analysis. First, the constraint of a mobile idle pulley and belt are derived, which has not been dealt with in previous studies of general symbolic MBD. A method for overcoming the over-constraints of the closed belt is proposed. The symbo… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.