Inverse Dynamics of the Spatial 3-rps Parallel Robot
نویسنده
چکیده
Recursive matrix relations for kinematics and dynamics of a spatial three-degrees-of-freedom 3-RPS parallel mechanism are established in this paper. Three identical legs connect the moving platform by revolute joints. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamics problem of the manipulator is formulated using either the principle of virtual work or the Lagrange equations with their multipliers. Compact matrix equations offer expressions and graphs for the power requirement comparison of each of three actuators in two different actuation schemes: revolute actuators and prismatic actuators.
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