nahavandi-kinematicandynamic-2017.pdf (2.43 MB)
Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator.
journal contribution
posted on 2017-11-01, 00:00 authored by A Arian, B Danaei, Hamid AbdiHamid Abdi, Saeid NahavandiThis paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton–Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency.
History
Journal
Applied mathematical modellingVolume
51Pagination
217 - 231Publisher
ElsevierLocation
Amsterdam, The NetherlandsPublisher DOI
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ISSN
0307-904XLanguage
engPublication classification
C1.1 Refereed article in a scholarly journalCopyright notice
2017, Elsevier Inc.Usage metrics
Keywords
Kinematic analysisDynamic analysisParallel manipulatorNewton–EulerVirtual workScience & TechnologyTechnologyPhysical SciencesEngineering, MultidisciplinaryMathematics, Interdisciplinary ApplicationsMechanicsEngineeringMathematicsNewton-EulerSTEWART PLATFORM MANIPULATORINVERSE DYNAMICSMACHINE-TOOLROBOTPRINCIPLEFORMULATIONEQUATIONSMODELSArtificial Intelligence and Image Processing
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