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Author(s): António M. Lopes
Title: Efficient dynamic modeling of a hexa-type parallel manipulator
Issue Date: 2012
Abstract: Dynamic modeling of parallel manipulators is difficult due to the existingmultiple closed-loops and kinematic constraints. Generally speaking, all dynamicmodeling approaches use classical mechanics principles, leading to equivalentdynamic equations. Nevertheless, these equations may present different levels ofcomplexity and computational loads. This chapter presents the generalized momentumapproach to derive the inverse dynamic model of a Hexa-type fully-parallelmanipulator. This approach showed high computational efficiency, measured by thenumber of arithmetic operations involved in the computation of the manipulatorsinertia and Coriolis and centripetal terms matrices.
Subject: Ciências da engenharia e tecnologias
Engineering and technology
Scientific areas: Ciências da engenharia e tecnologias
Engineering and technology
Source: Dynamical Systems and Methods
Document Type: Capítulo ou Parte de Livro
Rights: restrictedAccess
Appears in Collections:FEUP - Capítulo ou Parte de Livro

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