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Matrix modeling of inverse dynamics of spatial and planar parallel robots
2011
Multibody system dynamics
Recursive matrix relations for kinematics and dynamics analysis of two known parallel mechanisms: the spatial 3-PRS and the planar 3-RRR are established in this paper. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities, and accelerations of the robot's elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, and the results can be verified in the framework of the
doi:10.1007/s11044-011-9281-8
fatcat:sashclvjqvftzatbj2nrcvwism