The Influence of Motion Mode and Friction on the Dynamics of a Parallel Robot Used for Orientation Applications

  • Doina Pisla
  • Tiberiu Itul


This paper presents a method for the dynamical modeling of a 3-DOF parallel mechanism without and with friction used for orientation applications (TV satellite antenna or sun tracker). Parallel robots have some advantages over serial ones such as higher stiffness, very good accuracy, high speeds and accelerations, a better weight over payload rate. Using a numerical and graphical simulation, the diagrams for the dynamics representation are computed. In the paper the influence of the task duration and friction on the joint torques is studied.


Parallel robot Dynamics Kinematics Simulation 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Doina Pisla
    • 1
  • Tiberiu Itul
  1. 1.Technical University of Cluj-NapocaConstantin Daicoviciu 15Romania

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