Dynamic modeling of parallel manipulators

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2B-1996, Issue , 1996, Pages

  Baiges, Ivan J ^a   Duffy, Joseph ^b  

^a UNIVERSITY OF PUERTO RICO   (Puerto Rico)

^b UNIVERSITY OF FLORIDA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC RESPONSE; EQUATIONS OF MOTION;

DEGREE OF COUPLING; PARALLEL MANIPULATORS; S-METHOD;

MANIPULATORS;

EID: 85102047947     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/96-DETC/MECH-1136     Document Type: Conference Paper

References (9)

1. D. Stewart, " A platform with six degrees of freedom", Proc. of the Institute for Mechanical Engineering, London, Vol. 180, pp. 371-386, 1965.
2. W.Q.D. Do and D.C.H. Yang, " Inverse Dynamic Analysis and Simulation of a Platform Type of Robot", Journal of Robotic Systems, Vol 5, No. 3, pp.209-227, 1988.
3. H. Pang and M. Shahinpoor, "Inverse Dynamics of a Parallel Manipulator", Journal of Robotic Systems, Vol. 11, No.8, pp. 693-702, 1994.
4. G.H. Pfreundschuh, T.G. Sugar and V. Kumar, "Design and Control of a Three-Degrees-of-Freedom, in-Parallel, Actuated Manipulator", Journal of Robotic Systems, Vol. 11, No.2, pp. 103-115, 1994.
5. M. Griffis and J. Duffy, "Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement, " Trans. ASME, Journal of Mechanical Design, Vol. 113, No. 4, pp. 508-515., December 1991.
6. M. Griffis and J. Duffy, "A Foward Displacement Analysis of a Class of Stewart Platforms," Journal of Robotic Systems, Vol. 6, No. 6, pp. 703-720, June 1989.
7. J.M. Rico and J. Duffy, "A Simple Method for the Velocity and Acceleration Analysis of In Parallel Platforms", Proc. of the Ninth World Congress on the Theory of Machines and Mechanisms, Vol. 1, September 1995.
8. T.R. Kane and D.A. Levinson, " Dynamics: Theory and Applications", New York, McGraw-Hill, 1985.
9. I.J. Baiges, "Dynamic Modeling of Parallel Manipulators", Ph.D. Thesis, University of Florida, 1995.