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Development of mechanisms of parallel structure with four degrees of freedom and partial decoupling

✍ Scribed by V. A. Glazunov; S. V. Levin; K. A. Shalyukhin; M. Hakkyoglu; Vo Dean Tung

Book ID
111499870
Publisher
Allerton Press, Inc.
Year
2010
Tongue
English
Weight
191 KB
Volume
39
Category
Article
ISSN
1052-6188

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✍ Oscar Altuzarra; Asier Zubizarreta; Itziar Cabanes; Charles Pinto πŸ“‚ Article πŸ“… 2009 πŸ› Elsevier Science 🌐 English βš– 643 KB

A comprehensive dynamics analysis of a four degrees-of-freedom SchΓΆnflies parallel manipulator with parallelogram joints is presented. First, the manipulator kinematics and workspace analysis is performed. Then, the dynamics model is calculated using the Lagrangian formulation. The existence of para