Modular and recursive kinematics and dynamics for parallel manipulators

DOI10.1007/s11044-005-1143-9zbMath1146.70321OpenAlexW2149693525MaRDI QIDQ2433196

Waseem Ahmad Khan, Subir Kumar Saha, Jorge Angeles, Venkat N. Krovi

Publication date: 27 October 2006

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

Full work available at URL: https://doi.org/10.1007/s11044-005-1143-9

zbMATH Keywords

parallel manipulatorsdecoupled natural orthogonal complementmodular dynamicsrecursive kinematics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)

Related Items

Energy-momentum conserving integration of multibody dynamics, A recursive, numerically stable, and efficient simulation algorithm for serial robots, Matrix modeling of inverse dynamics of spatial and planar parallel robots, Recursive modular modelling methodology for lumped-parameter dynamic systems

Cites Work

• Kinematic and kinetic analysis of open-chain linkages utilizing Newton- Euler methods
• Symbolic processing of multiloop mechanism dynamics using closed-form kinematics solutions
• The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement
• Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
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