Forward Dynamics Analysis of the 6-PUS Mechanism Based on Platform-Legs Composite Simulation

2009 ◽  
Vol 22 (04) ◽  
pp. 496 ◽  
Author(s):  
Hao WANG
Keyword(s):  
Dynamics Analysis ◽  
Forward Dynamics

Dynamic Modeling of Overconstrained Parallel Robot

2013 ◽  
Vol 373-375 ◽  
pp. 34-37
Author(s):  
Jian Xin Yang ◽  
Zhen Tao Liu ◽  
Jian Wei Sun
Keyword(s):  
Dynamic Modeling ◽  
Virtual Work ◽  
Parallel Robot ◽  
Tree Structure ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Forward Dynamics ◽  
Principle Of Virtual Work ◽  
Closed Form Solutions ◽  
Dynamics Models

The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.

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