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Utilizing the virtual work principle, this paper presents a method for the dynamic formulation of redundant and non-redundant parallel manipulators for dynamic parameter identification. In modeling, the selection of pivotal point and the computation of inertia force and moment about the pivotal point are more crucial. The selection principle of pivotal point and force transmission on a rigid body...
This paper deals with the dynamic manipulability and dynamic optimization of a redundantly actuated three degree-of-freedom (DOF) parallel manipulator. The dynamic formulation is derived based on the virtual work principle. The reciprocal of the condition number of the inertia matrix is presented as an index to evaluate the dynamic manipulability of the manipulator. Furthermore, a global dynamic conditioning...
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