Dynamics modelling of a Stewart-based hybrid parallel robot

被引：16

作者：

Staicu, Stefan ^{[1
]}

机构：

[1] Univ Politehn Bucuresti, Dept Mech, Bucharest, Romania

来源：

ADVANCED ROBOTICS | 2015年 / 29卷 / 14期

关键词：

connectivity relations; dynamics; hybrid parallel robot; kinematics; KINEMATIC ANALYSIS; MANIPULATOR; MECHANISMS; INVERSE;

D O I：

10.1080/01691864.2015.1023219

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based hybrid parallel robot are established in this paper. Knowing the relative motions of two moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations. Finally, compact results and graphs of simulation for the input forces and powers of all actuators are obtained.

引用

页码：929 / 938

页数：10

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