Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Sajeeva Abeywardena; Chao Chen

doi:10.1007/s11044-016-9506-y

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Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Journal article

Peer reviewed

Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Sajeeva Abeywardena and Chao Chen

Multibody System Dynamics, Vol.41(1), pp.1-24

01/09/2017

DOI: https://doi.org/10.1007/s11044-016-9506-y

Abstract

Theoretical Mechanics

Parallel Mechanisms

The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-offreedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.

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Title: Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism
Creators: Sajeeva Abeywardena (Author) - Monash University
Chao Chen - Monash Univ, Dept Mech & Aerosp Engn, Melbourne, Vic, Australia
Publication Details: Multibody System Dynamics, Vol.41(1), pp.1-24
Publisher: Springer Nature
Date published: 01/09/2017
Identifiers: 99853463602346
Academic Unit: Department of Mechanical Engineering Sciences
Language: English
Resource Type: Journal article

Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Abstract

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