Please use this identifier to cite or link to this item:
|Kinematic and dynamic analysis of a new type of spatial 6-DOF parallel structure manipulator
|China Machine Press
|This paper addresses the dynamics and kinematics of a 6xUPS type parallel structure manipulator that consists of six branches and a platform. The problem of forward and inverse displacement analysis is considered on the base of solution of the forward displacement problem for each UPS branch as a serial manipulator. Basic dynamics equations have also been considered. The values of reduced moments and forces have been determined that provides the required input forces and moments. Thus, we deal with inverse dynamics problems. Dynamic model of this type of spatial manipulator is described by a system of six non-linear differential equations of second order with applying Lagrange-Euler methods.
|11th World Congress in Mechanism and Machine Science
|Appears in Collections:
|Mechanical Engineering / Makina Mühendisliği
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Show full item record
checked on Feb 23, 2024
Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.