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Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work
journal contribution
posted on 2018-04-02, 00:00 authored by Siamak Pedrammehr, Saeid Nahavandi, Hamid AbdiHamid AbdiIn this research, a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work. For the first time, a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms. An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories. Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.
History
Journal
Acta Mechanica SinicaPagination
1 - 13Publisher
SpringerLocation
Heidelberg, GermanyPublisher DOI
ISSN
0567-7718eISSN
1614-3116Language
engPublication classification
C Journal article; C1 Refereed article in a scholarly journalCopyright notice
2018, The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences and Springer-Verlag GmbH GermanyUsage metrics
Keywords
parallel mechanismhexarotssimulatordynamicsvirtual work principleScience & TechnologyTechnologyEngineering, MechanicalMechanicsEngineeringHexarotSTEWART PLATFORM MANIPULATORGENERALIZED MOMENTUM APPROACHINVERSE DYNAMICSUNCERTAIN PARAMETERSINERTIAL PARAMETERSMULTIBODY DYNAMICSLOOP CONSTRAINTSOPTIMAL-DESIGNHEXAPOD TABLEBIPED ROBOTMechanical Engineering
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