Abstract
A systematic methodology for solving the inverse dynamics of a 6-PRRS parallel robot is presented. Based on the principle of virtual work and the Lagrange approach, a methodology for deriving the dynamical equations of motion is developed. To resolve the inconsistency between complications of established dynamic model and real-time control, a simplifying strategy of the dynamic model is presented. The dynamic character of the 6-PRRS parallel robot is analyzed by example calculation, and a full and precise dynamic model using simulation software is established. Verification results show the validity of the presented algorithm, and the simplifying strategies are practical and efficient.
| Original language | English |
|---|---|
| Article number | 1840037 |
| Journal | Journal of Mechanics in Medicine and Biology |
| Volume | 18 |
| Issue number | 8 |
| DOIs | |
| State | Published - 1 Dec 2018 |
Keywords
- Jacobian matrix
- Parallel robot
- dynamic simulation
- inverse dynamic
- virtual work principle
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