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

• Type: Article in International Scientific Journal
• Date: 2010

Authors

lopes, am (Author) FEUP

Journal

Title: Robotica

Vol. 28

Pages: 781-793

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 7 Citations

Scopus - 12 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13