An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices
نویسنده
چکیده
A recursive dynamic modeling of a three-DOF parallel robot, namely, threeRevolute-Prismatic-Spherical (3-RPS) parallel manipulator is reported in this work. Euler parameters are utilized to define the 3-DOF orientation of its moving platform, because the coordinates are free of singularity. For the dynamic modeling, the concept of the Decoupled Natural Orthogonal complement (DeNOC) matrices is employed. The necessity of the concept is to use a set of independent coordinates, while Euler parameters are not. Hence, the improved recursive dynamic modeling reported somewhere else is utilized. This is especially useful for forward dynamic modeling. Finally, the results obtained are compared with those achieved from ADAMS model to validate them.
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