A New Approach for the Dynamic Analysis of Parallel Manipulators

Springer Science and Business Media LLC - Tập 2 - Trang 317-334 - 1998
Jiegao Wang1, Clément M. Gosselin1
1Département de Génie Mécanique, Université Laval, Québec, Québec, Canada

Tóm tắt

A new approach for the dynamic analysis of parallel manipulators is presented in this paper. This approach is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough–Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the results. The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.

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Springer Science and Business Media LLC

Tập 2

317-334

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