Dynamic Analysis of Tricept Parallel Manipulator with Principle of Virtual Work
نویسنده
چکیده
Submitted: Jun 1, 2013; Accepted: Jul 12, 2013; Published: Aug 18, 2013 Abstract: This paper investigates one of the complex degrees of freedom parallel manipulator, contains both rotational and orientational degrees of freedom, with machine tool application, known as Tricept PKM. Positioning and orienting rates via unique displacement in actuators, is one of the desired characteristics of robots with machine tools applications. The dynamic equations have been generated and solved for the optimum structure of Tricept PKM regard to have maximum dexterous work space by means of principle of virtual work. Hens, positioning and orienting rate will increase and the effects of operating delay will be neglectable.
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