We present on approach for the dynamic analysis of parallel manipulators
which is based on the principle of virtual work. The approach is
firstly illustrated using a simple example, namely, a planar four-bar
linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom
parallel manipulator with prismatic actuators (Gough-Stewart platform)
is performed. Finally, a numerical example is given in order to illustrate
the numerical aspects of the algorithms.
%0 Journal Article
%1 Wang98
%A Wang, Jiegao
%A Gosselin, Clement M.
%D 1998
%J Multibody Syst. Dyn.
%K Gough-Steward actuators four-bar linkage; manipulator of parallel planar platform; principle prismatic six-degree-of-freedom virtual with work;
%N 3
%P 317-334
%T A new approach for the dynamic analysis of parallel manipulators.
%V 2
%X We present on approach for the dynamic analysis of parallel manipulators
which is based on the principle of virtual work. The approach is
firstly illustrated using a simple example, namely, a planar four-bar
linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom
parallel manipulator with prismatic actuators (Gough-Stewart platform)
is performed. Finally, a numerical example is given in order to illustrate
the numerical aspects of the algorithms.
@article{Wang98,
abstract = {We present on approach for the dynamic analysis of parallel manipulators
which is based on the principle of virtual work. The approach is
firstly illustrated using a simple example, namely, a planar four-bar
linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom
parallel manipulator with prismatic actuators (Gough-Stewart platform)
is performed. Finally, a numerical example is given in order to illustrate
the numerical aspects of the algorithms. },
added-at = {2008-03-02T02:12:02.000+0100},
author = {Wang, Jiegao and Gosselin, Clement M.},
biburl = {https://www.bibsonomy.org/bibtex/2b4456c646442fd72c95399309ba8bf4a/dmartins},
classmath = {*70B15 Mechanisms 70Q05 Control of mechanical systems},
description = {robotica-bib},
interhash = {20abff2fece1646712588e816815eeb9},
intrahash = {b4456c646442fd72c95399309ba8bf4a},
journal = {Multibody Syst. Dyn.},
keywords = {Gough-Steward actuators four-bar linkage; manipulator of parallel planar platform; principle prismatic six-degree-of-freedom virtual with work;},
language = {English},
number = 3,
pages = {317-334},
timestamp = {2008-03-02T02:14:39.000+0100},
title = {A new approach for the dynamic analysis of parallel manipulators.},
volume = 2,
year = 1998,
zmath = {916.70005}
}