A new approach for the dynamic analysis of parallel manipulators (Q1286742)
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scientific article; zbMATH DE number 1281597
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| English | A new approach for the dynamic analysis of parallel manipulators |
scientific article; zbMATH DE number 1281597 |
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A new approach for the dynamic analysis of parallel manipulators (English)
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29 April 1999
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We present on approach for the dynamic analysis of parallel manipulators which is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough-Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the numerical aspects of the algorithms.
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Gough-Steward platform
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principle of virtual work
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planar four-bar linkage
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six-degree-of-freedom parallel manipulator with prismatic actuators
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0.8799006938934326
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0.8222680687904358
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0.7971308827400208
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0.7888435125350952
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