Dynamic Analysis of Redundant Parallel Manipulator

DOI

10.2991/icmit-16.2016.64How to use a DOI?

Keywords

Redundant Drive; Parallel Mechanism; Freedom; Dynamic Analysis

Abstract

The structure of 5-UPS/PRPU redundant parallel manipulator is introduced. The degree of freedom and redundant type of this manipulator is analyzed. And, the dynamic equations of five UPS branches and a PRPU branch are established with Lagrange Method. This study provides theoretical basis for the control system of 5-UPS / PRPU redundant parallel manipulator.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Qing Li
AU  - Yongxin Ren
AU  - Jing Zhang
PY  - 2016/04
DA  - 2016/04
TI  - Dynamic Analysis of Redundant Parallel Manipulator
BT  - Proceedings of the 2016 3rd International Conference on Mechatronics and Information Technology
PB  - Atlantis Press
SP  - 363
EP  - 366
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmit-16.2016.64
DO  - 10.2991/icmit-16.2016.64
ID  - Li2016/04
ER  -