Recursive modelling in dynamics of Agile Wrist spherical parallel robot

Recursive matrix relations for kinematics and dynamics of the 3- RRR Agile Wrist spherical parallel robot are established in this paper. The prototype of the robot is a three-degrees-of-freedom mechanism with three identical legs. Controlled by concurrent torques, which are generated by some electri...

Full description

Saved in:
Bibliographic Details
Published inRobotics and computer-integrated manufacturing Vol. 25; no. 2; pp. 409 - 416
Main Author Staicu, Stefan
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.04.2009
Subjects
Dynamics
Kinematics
Parallel robot
Virtual work
Virtual work
Dynamics
Parallel robot
Kinematics
Online AccessGet full text
ISSN0736-5845
1879-2537
DOI10.1016/j.rcim.2008.02.001

Cover

More Information
Summary:Recursive matrix relations for kinematics and dynamics of the 3- RRR Agile Wrist spherical parallel robot are established in this paper. The prototype of the robot is a three-degrees-of-freedom mechanism with three identical legs. Controlled by concurrent torques, which are generated by some electric motors, the active elements of the robot have three independent rotations. Knowing the rotation motion of the moving platform, we develop first the inverse kinematical problem and determine the velocities and accelerations. Further, the principle of virtual work is used in the inverse dynamic problem. Matrix equations offer iterative expressions and graphs for the power requirement comparison of each of three actuators in two computational complexities: complete dynamic model and simplified dynamic model.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2008.02.001