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JIRS
2007

General Solution for the Dynamic Modeling of Parallel Robots

11 years 5 months ago
General Solution for the Dynamic Modeling of Parallel Robots
In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Key words: Dynamic modeling, complex structures, parallel robots, simulation, Jacobian matrix.
Wisama Khalil, Ouarda Ibrahim
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where JIRS
Authors Wisama Khalil, Ouarda Ibrahim
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