Kinematics and dynamics analyses of a parallel manipulator with three active legs and one passive leg by a virtual serial mechanism

DOI10.1007/s11044-006-9032-4zbMath1330.70035OpenAlexW2006365368MaRDI QIDQ880991

Ping-Li Liu, Yi Lu, Bo Hu

Publication date: 21 May 2007

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

Full work available at URL: https://doi.org/10.1007/s11044-006-9032-4

zbMATH Keywords

kinematicsdynamicssingularityworkspaceparallel manipulatorserial mechanism

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computer-aided design (modeling of curves and surfaces) (65D17)

Related Items

Complete kinematics of a serial-parallel manipulator formed by two Tricept parallel manipulators connected in serials, Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial-parallel manipulator, Solution of the forward kinematics of parallel robots based on constraint curves

Cites Work

• Dynamics of parallel manipulators by means of screw theory.
• Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint.
• Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators
• Inverse dynamics of parallel manipulators in the presence of drive singularities
• Static balancing of parallel robots
• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
• Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints.
• The Singularity Principle and Property of Stewart Parallel Manipulator