Inverse and forward dynamics of a 4RSS+PS parallel manipulator with one infinite rotational motion
- 26 January 2020
- journal article
- research article
- Published by Taylor & Francis in Australian Journal of Mechanical Engineering
- Vol. 20 (2) , 406-424
Abstract
Modelling and dynamic analysis of a novel four degrees of freedoms (DOFs) parallel manipulator (PM) with 4RSS+PS topology is conducted in this paper. The letters R, S and P denote revolute joint, spherical joint and prismatic joint, respectively, and underline denotes an actuated joint. The proposed manipulator has three rotational and one translational DOF (3R1T), while one of the rotational DOFs around the direction of translational DOF is free of limitation. In addition to the inverse kinematic, velocity and acceleration analyses, a computationally efficient scheme based on the principle of virtual work is presented to derive a closed-form dynamic equation of the 4RSS+PS PM. Then, the dynamic equation is applied for the inverse and forward dynamic analyses of the manipulator. Numerical examples are also studied with Matlab software and its SimMechanics toolbox to demonstrate correctness and efficiency of the presented dynamic modelling.Keywords
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