Complete Dynamic Modeling of a moving base 6-dof Parallel Manipulator

• Tipo: Artigo em Revista Científica Internacional
• Data: 2010

Autores

António M. Lopes (Autor) FEUP

Revista

Título: Robotica

Vol. 28 Nº 5

Páginas: 781-793

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Science

Scopus

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia mecânica

Outras Informações

DOI: 10.1017/S0263574709990506

Abstract (EN): In this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.

Idioma: Inglês

Tipo (Avaliação Docente): Científica