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• W2157707402 abstract "SUMMARY The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs." @default.
• W2157707402 created "2016-06-24" @default.
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• W2157707402 date "2014-07-04" @default.
• W2157707402 modified "2023-10-06" @default.
• W2157707402 title "Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator" @default.
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• W2157707402 doi "https://doi.org/10.1017/s0263574714001817" @default.
• W2157707402 hasPublicationYear "2014" @default.
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