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Title: Kinematic and dynamic analysis of a new type of spatial 6-DOF parallel structure manipulator
Authors: Alizade, Rasim
Bayram, Çağdaş
Keywords: Parallel manipulators
Screw theory
Forward displacement
Inverse displacement
Inverse dynamics
Issue Date: 2004
Publisher: China Machine Press
Abstract: 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.
Description: 11th World Congress in Mechanism and Machine Science
ISBN: 7-111-14073-7
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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