Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a novel spherical robot that is called a 3(RPSP)-S parallel manipulator. The proposed manipulator provides high rotational displacement of the moving platform for low angular displacement of the motors. The advised robot is suitable for repetitive oscillatory applications (for example, wrist and ankle rehabilitation and table of autopilot and gyroscope life test, etc.). First, we describe the structure of the proposed manipulator and solve the inverse kinematics problem of the manipulator. Next, based on the principle of virtual work, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated and verified by a special dynamics modeling commercial software (MSC ADAMS).

show abstract

A virtual power algorithm for dynamics analysis of a 3-RRcP spherical parallel robot using the screw theory

Enferadi

Saffar

2018

Australian Journal of Mechanical Engineering

View full text Add to dashboard Cite

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.

Contact Info

hi@scite.ai

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle

Cited by 4 publications

References 6 publications

Dynamic Analysis of High-Speed Boat Motion Simulator by a Novel 3-DoF Parallel Mechanism with Prismatic Actuators Based on Seakeeping Trial

Dynamic Analysis of High-Speed Boat Motion Simulator by a Novel 3-DoF Parallel Mechanism with Prismatic Actuators Based on Seakeeping Trial

A Closed-Form Dynamics of a Novel Fully Wrist Driven by Revolute Motors

A virtual power algorithm for dynamics analysis of a 3-RRcP spherical parallel robot using the screw theory

Contact Info

Product

Resources

About