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This paper presents the analytical dynamic modeling of a Triglide parallel robot and numerical simulation using Maple and Adams software. The Lagrange with multipliers method was successfully applied to develop the closed-form dynamic model using the Maple software. Next, an equivalent dynamic virtual model of the Triglide parallel robot was developed and simulated in ADAMS program on different task. The simulation of the theoretical dynamic models (closed-form model) and ADAMS numerical approach confirm the validity of the analytical dynamic model.
Published in:
Human System Interactions (HSI), 2011 4th International Conference on
Date of Conference: 19-21 May 2011
- Page(s):
- 245 - 249
- ISSN :
- 2158-2246
- Print ISBN:
- 978-1-4244-9638-9
- INSPEC Accession Number:
- 12094812
- Conference Location :
- Yokohama
- Digital Object Identifier :
- 10.1109/HSI.2011.5937373
- Product Type:
- Conference Publications
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