| contributor author | Han, Hasiaoqier | |
| contributor author | Angeles, Jorge | |
| date accessioned | 2024-04-24T22:37:17Z | |
| date available | 2024-04-24T22:37:17Z | |
| date copyright | 8/8/2023 12:00:00 AM | |
| date issued | 2023 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_16_3_031015.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4295549 | |
| description abstract | The authors propose a systematic formulation of the dynamics of the 6-P-RR-R-RR parallel-kinematics machine (PKM) with offset RR -joints. The kinematics of the same system is reported in an accompanying paper. Based on the kinematics model developed in the former, the dynamics model of the limb-chain is derived here using the Newton–Euler equations. Then, the constraint wrenches in the governing equations of the limb-chain are eliminated with the aid of the natural orthogonal complement. This is the twist-shaping matrix, which maps the joint-rate array of the limb-chain into the twist array of the PKM. Furthermore, the dynamics model of the whole PKM with offset joints is formulated. Moreover, the actuator forces are obtained. Finally, upon validation via simulation, the dynamics model is proven to be both precise and effective. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints | |
| type | Journal Paper | |
| journal volume | 16 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4062984 | |
| journal fristpage | 31015-1 | |
| journal lastpage | 31015-9 | |
| page | 9 | |
| tree | Journal of Mechanisms and Robotics:;2023:;volume( 016 ):;issue: 003 | |
| contenttype | Fulltext | |
