Complete dynamic modelling of a moving base 6-dof parallel manipulator

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

Autores

lopes, am (Autor) FEUP

Revista

Título: Robotica

Vol. 28

Páginas: 781-793

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Knowledge - 7 Citações

Scopus - 12 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-003-3TM

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 amoving 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

Nº de páginas: 13