Abstract
The paper presents the dynamic model of a 2-DOF orientation mechanism, where the Euler’s second law has been used. The kinematics, workspace and singularities of the mechanism are also presented. The dynamic model is developed using the motion equations of the mobile platform. Simulations results using the mentioned model as well as a commercial simulation software are shown.
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Acknowledgments
This paper was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI and the Scopes International Grant IZ74Z0-137361/1, Creative Alliance in Research and Education focused on Medical and Service Robotics-CARE-Robotics.
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Itul, T., Gherman, B., Cocorean, D., Pisla, D. (2015). Inverse Dynamics of 2-DOF Parallel Mechanism Used for Orientation. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_48
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DOI: https://doi.org/10.1007/978-3-319-09411-3_48
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