An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices

DOI10.1007/S11044-019-09674-4MaRDI QIDQ2321893zbMATH OpenOpenAlexWikidataFDO

Authors Ramin Ghaedrahmati, Ali Raoofian, Ali Kamali E., Afshin Taghvaeipour

Publication date 27 August 2019

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-019-09674-4

zbMATH Keywords

multibody systemsparallel manipulatorsscrew theoryNewton-Euler formulationagile wristconstraint wrench analysisinverse dynamicjoint force analysis

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

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Cites work

• scientific article; zbMATH DE number 5224005 (Why is no real title available?)
• A robust forward-displacement analysis of spherical parallel robots
• Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems
• Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism
• Inverse dynamics of a parallel manipulator
• Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism
• Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
• Matrix modeling of inverse dynamics of spatial and planar parallel robots
• The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement
• The effect of kinematic constraints in the inverse dynamics problem in biomechanics
• The inverse of any two-by-two nonsingular partitioned matrix and three matrix inverse completion problems

Cited in

(4)

• Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems
• Dynamics analysis, offline-online tuning and identification of base inertia parameters for the 3-DOF delta parallel robot under insufficient excitations
• Joint reaction forces in multibody systems with redundant constraints
• Multibody model of the human-inspired robot CHARMIE

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