3-PRP平面パラレルロボットの動力学における内部関節力
Internal joint forces in dynamics of a 3-PRP planar parallel robot
3-PRP平面パラレルロボットの逆運動学と仮想仕事の原理に基づく逆動力学を定式化し、アクチュエータ入力パワーと内部関節力をシミュレーションで解析した論文。
著者: Stefan Staicu, Damien Chablat
分類: cs.RO
原文アブストラクト
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, some graphs of simulation for the input powers of three actuators and the internal joint forces are obtained.
