Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism

DOI10.1016/j.mechmachtheory.2008.02.003zbMath1165.70006OpenAlexW2016523928MaRDI QIDQ959081

Bodo Heimann, Houssem Abdellatif

Publication date: 11 December 2008

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.02.003

zbMATH Keywords

Hamel-Boltzmann equationsopen-loop subchain dynamicsprinciple of energy equivalence

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Kronecker product and a new matrix form of Lagrangian equations with multipliers for constrained multibody systems ⋮ Integrating structural and input design of a 2-DOF high-speed parallel manipulator: a flexible model-based approach ⋮ The kinematics and kinetics of multi-closed-chain mechanisms in the impact and non-impact stages ⋮ Dynamic modeling and wind vibration control of the feed support system in FAST ⋮ The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator

Cites Work

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• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
• Modelling and control of robot manipulators.
• Dynamic analysis and control of a stewart platform manipulator
• Inverse dynamics of a parallel manipulator
• Stability of a spinning body containing elastic parts via Liapunov'sdirect method
• Modeling and control for a Gough‐Stewart platform CNC machine

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