ScholarLens Back to search
2013•International Journal of Mechanisms and Robotic SystemsRequires access

Joint forces in dynamics of the 3-RRR planar parallel robot

Stefan Staicu

Open publisher page 3 citations

Abstract

Recursive matrix relations for the complete dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.

About this research paper

What this paper is about

Recursive matrix relations for the complete dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.

Why it matters

OpenAlex reports 3 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Recursive matrix relations for the complete dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.

Key concepts: Virtual work, Inverse dynamics, Inverse kinematics, Planar, Kinematics, Parallel manipulator, Torque, Dynamics (music)

Related papers

Related paper 1Related paper 2Related paper 3
Back to paper searchBrowse research topicsOriginal source
Joint forces in dynamics of the 3-RRR planar parallel robot — Research Paper | ScholarLens