Dynamics of parallel manipulators by means of screw theory

被引：245

作者：

Gallardo, J

Rico, JM

Frisoli, A

Checcacci, D

Bergamasco, M

机构：

[1] Inst Tecnol Celaya, Dept Ingn Mecan, Celaya 38010, Gto, Mexico

[2] Scuola Super Sant Anna, PERCRO, I-56025 Pisa, Italy

来源：

MECHANISM AND MACHINE THEORY | 2003年 / 38卷 / 11期

关键词：

parallel manipulators; virtual work; Klein form; kinematics; dynamics;

D O I：

10.1016/S0094-114X(03)00054-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An approach to the dynamic analysis of parallel manipulators is presented. The proposed method, based on the theory of screws and on the principle of virtual work, allows a straightforward calculation of the actuator forces as a function of the external applied forces and the imposed trajectory. In order to show the generality of such a methodology, two case studies are developed, a 2-DOF parallel spherical mechanism and a Gough-Stewart platform. (C) 2003 Elsevier Ltd. All rights reserved.

引用

页码：1113 / 1131

页数：19

共 18 条

[1]

Ball R.S., 1998, A Treatise on the Theory of Screws

[2]

Brand L., 1947, VECTOR TENSOR ANAL

[3] Screw axis defined by Giulio Mozzi in 1763 and early studies on helicoidal motion [J].