Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Multibody System Dynamics Springer Journals

Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Loading next page...
 
/lp/springer_journal/inverse-dynamic-modelling-of-a-three-legged-six-degree-of-freedom-T3nF0VkYtM
Publisher
Springer Netherlands
Copyright
Copyright © 2016 by Springer Science+Business Media Dordrecht
Subject
Engineering; Vibration, Dynamical Systems, Control; Optimization; Electrical Engineering; Mechanical Engineering; Automotive Engineering
ISSN
1384-5640
eISSN
1573-272X
D.O.I.
10.1007/s11044-016-9506-y
Publisher site
See Article on Publisher Site

Abstract

The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.

Journal

Multibody System DynamicsSpringer Journals

Published: Feb 1, 2016

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create lists to
organize your research

Export lists, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off