Affiliation:
1. Kwangju Institute of Science and Technology
Abstract
Abstract
This paper presents closed-form forward dynamic equations of six degree-of-freedom HexaSlide type parallel manipulators. The HexaSlide type parallel manipulators are characterized by an architecture with constant-length links that are attached to moving sliders on the ground and to a mobile platform. Based on the kinematic analysis, forward dynamic equations of motion of the parallel manipulator are derived by the Newton-Euler approach. In this derivation, joint frictions as well as all link inertia are included. The correctness of derived dynamic equations is validated by a commercial dynamic simulation software. The kinematic and dynamic equations may be used in the computer simulation of various control strategies.
Publisher
American Society of Mechanical Engineers
Cited by
3 articles.
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