Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces

DOI10.1016/j.mechmachtheory.2010.07.003zbMath1203.70024OpenAlexW1967594172MaRDI QIDQ612661

Meng-Shiun Tsai, Wei-Hsiang Yuan

Publication date: 29 December 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.07.003

zbMATH Keywords

Lagrange multipliersEuler-Lagrangeinternal forcesinverse dynamicsparallel manipulatorconstrained robotic system

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamical systems in control (37N35)

Related Items (2)

Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism ⋮ Contouring Control for Multi-Axis Motion Systems With Holonomic Constraints: Theory and Application to a Parallel System

Cites Work

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• Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure
• Power requirement comparison in the 3-RPR planar parallel robot dynamics
• A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators.
• Parallel robots
• Inverse dynamic analysis of parallel manipulators with full mobility.
• Direct kinematic analysis of a 3-PRS parallel mechanism
• Explicit dynamics equations of the constrained robotic systems

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