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Internal joint forces in dynamics of a 3-PRP planar parallel robot

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.

preprint2012arXivOpen access
Stefan StaicuDamien Chablat
Robotics
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Open access2 authors1 topic
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
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Stefan StaicuDamien Chablat

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