Calculus joint forces in dynamics of a planar 3-PRR parallel robot
Keywords:
planar parallel robot, dynamics, joint forces, principle of virtual work, recursive matrix relationsAbstract
Recursive matrix relations for the joint forces in dynamics of a planar 3-PRR parallel robot are established in this paper. Knowing the kinematics of the platform, we develop the inverse dynamic problem, using an approach based on the principle of virtual work. Some graphs of simulation for the internal joint forces are obtained.
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