Open document
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General information |
| Author |
Garcia-Murillo, Mario; Gallardo-Alvarado, Jaime; Castillo-Castaneda, E. |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
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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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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