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- W3136479897 abstract "Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline." @default.
- W3136479897 created "2021-03-29" @default.
- W3136479897 creator A5053969080 @default.
- W3136479897 date "1993-09-19" @default.
- W3136479897 modified "2023-09-28" @default.
- W3136479897 title "Kinematics and Dynamics of a Parallel Manipulator With Woven Joints" @default.
- W3136479897 doi "https://doi.org/10.1115/detc1993-0143" @default.
- W3136479897 hasPublicationYear "1993" @default.
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