Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work

DOI10.1007/s11071-010-9659-9zbMath1204.70010OpenAlexW2150159640MaRDI QIDQ623908

Alireza Akbarzadeh Tootoonchi, Javad Enferadi

Publication date: 8 February 2011

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-010-9659-9

zbMATH Keywords

virtual workinverse dynamicsJacobian matriceslink Jacobian matricesspherical parallel manipulator

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work ⋮ Dynamics analysis, offline-online tuning and identification of base inertia parameters for the 3-DOF delta parallel robot under insufficient excitations ⋮ Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism ⋮ A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator

Uses Software

• Matlab

Cites Work

• Unnamed Item
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• Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach.
• Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom
• Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators
• A family of spherical parallel manipulators with two legs
• Inverse dynamic analysis and simulation of a platform type of robot
• An efficient method for inverse dynamics of manipulators based on the virtual work principle
• Dynamic analysis and control of a stewart platform manipulator

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