Dynamics of parallel manipulators by means of screw theory

• Post by: System
• 27 November 2019
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An approach to the dynamic analysis of parallel manipulators is presented. The proposed method, based on the theory of screws and on the principle of virtual work, allows a straightforward calculation of the actuator forces as a function of the external applied forces and the imposed trajectory. In order to show the generality of such a methodology, two case studies are developed, a 2-DOF parallel spherical mechanism and a Gough-Stewart platform. © 2003 Elsevier Ltd. All rights reserved.