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• W2043428376 endingPage "2284" @default.
• W2043428376 startingPage "2280" @default.
• W2043428376 abstract "Recently the parallel manipulator with less DOFs has attracted industry and academia, but the research on its dynamics is still an open problem. In this paper, the inverse dynamic of a spatial parallel manipulator with two translational degrees of freedom and one rotational degree of freedom is studied based on the Newton-Euler approach. The kinematics analysis is firstly performed in a closed form. The inverse dynamic equation of this manipulator is formulated by using the Lagrange multiplier approach and choosing the Cartesian position and orientation as the generalized coordinates. Finally a numerical example is given for the kinematic and dynamic simulation of this manipulator. The model will be useful to improve the design of the mechanical components and the control algorithm." @default.
• W2043428376 created "2016-06-24" @default.
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• W2043428376 date "2012-11-01" @default.
• W2043428376 modified "2023-09-28" @default.
• W2043428376 title "Inverse Kinematics and Dynamics of a 3-DOF Spatial Parallel Manipulator" @default.
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• W2043428376 doi "https://doi.org/10.4028/www.scientific.net/amm.229-231.2280" @default.
• W2043428376 hasPublicationYear "2012" @default.
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