, that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can ...
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Despite their well-known advantages in terms of higher intrinsic rigidity, larger payload-to-weight ratio, and higher velocity and acceleration capacities, parallel robots have drawbacks. Among them, the most important one is surely the presence of singularities in the workspace, which divide the wor...
A winch integrated cable-driven parallel robot (WICDPR) is a cable robot with winches mounted on the mobile platform. Such winch-integrated configuration improves the installation flexibility and reconfigurability of cable robots, but weakens their dynamic performance. This paper investigates the dynamic...
The algorithm utilises Jourdain's principle of virtual power which leads to very efficient resulting code. The parameter reduction is based on opening the kinematic loops so that analytic rules known from serial robots can be implemented. Additionally, a new approach for dynamic parameter ...
The tracking control problem of a parallel robot, including the electrical actuator dynamics, is addressed. The inverse dynamic model of the mechanical part is obtained using Lagrange and the geometric properties of the robot. For electrically actuated robots we design a nonlinear control law in the...
The latter category, includes cable suspended robots, defined as CDPMs for which all active cables are attached to the top of the suspended EE, while the bottom of the robot is free from cables. Since CDPMs have shown inherent advantages over conventional parallel robots, many applications were...
Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based hybrid parallel robot are established in this paper. Knowing the relative motions of two moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations. Finally, compac...
Reconfiguration of the exit points can be effectively adopted in cable-driven parallel robots (CDPR) to expand the robot workspace and to achieve better performances than traditional CDPRs. This feature can be further exploited in underactuated CDPRs, where the number of independent active cables (...
Cameron, R.H., Martin, W.T.: The orthogonal development of non-linear functionals in series of Fourier–Hermite functionals. Ann. Math. 48(2), 385–392 (1947) Article MATH MathSciNet Google Scholar Codourey, A.: Dynamic modeling of parallel robots for computed-torque control implementati...