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RESEARCH PAPERS: Robotics and Related Mechanisms Papers

Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra

[+] Author and Article Information
Koichi Sugimoto

Production Engineering Research Laboratory, Hitachi, Ltd., 292 Yoshida-cho, Totsuka-ku, Yokohama 244, Japan

J. Mech., Trans., and Automation 109(1), 3-7 (Mar 01, 1987) (5 pages) doi:10.1115/1.3258783 History: Received July 01, 1986; Online November 19, 2009

Abstract

The derivation of a kinematic and dynamic model for a parallel manipulator is presented in this paper. The model can be used to calculate displacements, velocities, and accelerations of both joints and links, and also joint torques and forces required to drive a manipulator. The expression in this paper, which is derived using the motor algebra and the Newton-Euler formulation, can be applied to many kinds of parallel manipulators.

Copyright © 1987 by ASME
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