Dynamics of a 3-UPS-UPU-S Parallel Mechanism
نویسندگان
چکیده
In this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the coordinate axes at fixed origin frame. The structure second-order over constraint moving platform base are connected by five kinematic chains. motion characteristics analyzed reciprocal screw equation. Then, kinematics dynamics modelling carried out systematically in unified way. established means screws, displacements accelerations each joint any point on link be calculated equation directly. analysis acceleration its mathematical expression form given, matrix applied into dynamic based Newton–Euler All forces torques obtained single set equations.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13063912