Finding the Generalized Forces of a Series-Parallel Manipulator | Zendy

Mario A. GarcíaMurillo | Zendy; Jaime Gallardo-Alvarado | Zendy; Eduardo Castillo-Castañeda | Zendy

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Finding the Generalized Forces of a Series-Parallel Manipulator

Author(s) -

Mario A. GarcíaMurillo,

Jaime Gallardo-Alvarado,

Eduardo Castillo-Castañeda

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/53824

Subject(s) - screw theory , kinematics , virtual work , computer science , parallel manipulator , acceleration , series (stratigraphy) , work (physics) , actuator , control theory (sociology) , software , manipulator (device) , robot , topology (electrical circuits) , simulation , mathematics , classical mechanics , artificial intelligence , mechanical engineering , finite element method , physics , geology , paleontology , control (management) , combinatorics , engineering , programming language , thermodynamics

In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included

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