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A novel 2-RRC+SPS parallel manipulator with three translational movements is proposed. The kinematics and dynamics of the manipulator is analyzed. According to its geometric model, a kinematic equation is derived, from which can obtain direct and inverse solution of position. The inverse solution of velocity and acceleration are also derived. The dynamic equation of the manipulator based on the Lagrange...
In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange...
Position control and vibration control of the underactuated flexible robot in operational space is implemented. Firstly, the dynamic equations in operational space are derived using the assumed modes method. And kinematics and dynamics of the system are analyzed. Secondly, position control method of the underactauted flexible manipulator in the operational space is proposed. Because the elastic vibration...
Dynamic control of the underactuated flexible robot in operational space is implemented with robot end variables directly used as the control objectives. Firstly, the dynamic equations in operational space are derived using the assumed modes method. Kinematics and dynamics of the system are analyzed. Secondly, position control method is proposed based on the dynamic model in operational space. Then,...
A direct adaptive fuzzy sliding mode control strategy for a 3-RRRT parallel manipulator is presented and actualized. According to its system dynamics character, and on the base of Lyapunov's stability theory, using fuzzy logic system with adaptive technology, a direct adaptive Fuzzy sliding mode control strategy is put forward and actualized, and then control system numerical simulation is completed...
This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic formula of the manipulator is gotten by the...
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