The kinematics and the full minimal dynamic model of a 6-DOF parallel robot manipulator

DOI10.1023/A:1026440021125MaRDI QIDQ1306132zbMATH OpenOpenAlexFDO

Authors Lotfi Beji, Madeleine Pascal

Publication date 7 June 2000

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1026440021125

zbMATH Keywords

kinematicsequations of motionTaylor expansion methodclosed kinematic chaindynamic coefficients6-DOF parallel robot manipulatordirect geometric probleminverse geometricminimal dynamic model

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cited in

(21)

• Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism
• Curvature properties of 6-parametric robot manipulators
• Inverse dynamic analysis of parallel manipulators with full mobility.
• Modelling of kinematics of the IRb-6 manipulator
• Mechanics of Turin parallel robot.
• Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
• Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
• Kinematics of a class of parallel manipulators which generates structures with three limbs
• Dynamics of a six degrees-of-freedom parallel robot actuated by three two-wheel carts
• Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool
• Kinematics of a six‐dof fixation device for long‐bone fracture reduction
• Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints.
• The analytical dynamic model of six-DOF industrial robotic manipulators of containing closed chain
• Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom
• Efficient dynamic modeling of a hexa-type parallel manipulator
• Identification of dynamic parameters of a 3-DOF RPS parallel manipulator
• Synthesis and analysis of a new class of six‐degree‐of‐freedom parallel minimanipulators
• Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism
• Kinematic and dynamic modelling for real-time control of Tau parallel robot
• Classification of higher mobility closed-loop linkages
• A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators

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