Dynamics of the Translational 3-upu Parallel Manipulator
نویسندگان
چکیده
Matrix relations for dynamics analysis of a spatial translational 3-UPU parallel mechanism are established in this paper. Three identical legs connect the moving platform by universal joints. Knowing the translation motion of the platform, inverse dynamics problem is solved using an approach based on explicit equations of parallel robots dynamics, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, matrix equations offer expressions and graphs of simulation for the input forces and powers of three prismatic actuators.
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