Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control

Kinematic and dynamic modelling for real

Kinematic and dynamic modelling for real-time control of Tau parallel robot

✍ Zhenqi Zhu; Jinsong Li; Zhongxue Gan; Hui Zhang 📂 Article 📅 2005 🏛 Elsevier Science 🌐 English ⚖ 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