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Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator

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2 Author(s)
K. -M. Lee ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Altanta, GA, USA ; D. K. Shah

The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator is presented. The equations of motion have been formulated in joint-space using the Lagrangian approach. The analysis provides the solution to predict the forces required to actuate the links so that the manipulator follows a predetermined trajectory. A dynamic simulation program illustrates the influence of the link dynamics on the actuating force required. An example of tracing a helical path is chosen to illustrate the dynamic simulation and to show that the Cartesian position of the moving platform may be controlled at a sacrifice of orientation freedoms. The dynamic analysis provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator

Published in:

IEEE Journal on Robotics and Automation  (Volume:4 ,  Issue: 3 )