The kinematics and the full minimal dynamic model of a 6-DOF parallel robot manipulator

DOI10.1023/A:1026440021125zbMath0969.70005OpenAlexW185824345MaRDI QIDQ1306132

Madeleine Pascal, Lotfi Beji

Publication date: 7 June 2000

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1026440021125

zbMATH Keywords

kinematicsequations of motionTaylor expansion methodclosed kinematic chaindynamic coefficients6-DOF parallel robot manipulatordirect geometric probleminverse geometricminimal dynamic model

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism ⋮ Kinematics of a class of parallel manipulators which generates structures with three limbs ⋮ Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool ⋮ Identification of dynamic parameters of a 3-DOF RPS parallel manipulator

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