Inverse Dynamics of 2-dof Planar Parallel Manipulators with Prismatic Actuators
نویسندگان
چکیده
This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and linear velocities of the rigid bodies of the system to the associated joint rates. The dynamic modeling developed is used to study the variation of actuating forces of two such manipulators. The results are useful for the selection of a suitable type and to decide the proper actuator ratings. KeywordsInverse dynamics, DeNOC, Parallel manipulators, Prismatic actuators
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