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Dynamic modeling and active control of a cable-suspended parallel robot

โœ Scribed by B. Zi; B.Y. Duan; J.L. Du; H. Bao

Book ID
108206314
Publisher
Elsevier Science
Year
2008
Tongue
English
Weight
764 KB
Volume
18
Category
Article
ISSN
0957-4158

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โœ Zhenqi Zhu; Jinsong Li; Zhongxue Gan; Hui Zhang ๐Ÿ“‚ Article ๐Ÿ“… 2005 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 649 KB

This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the pri