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Romansy 14 pp 67-76 | Cite as

Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form

  • Martin Grotjahn
  • Johannes Kühn
  • Bodo Heimann
  • Heiko Grendel
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

A new approach for modeling of the dynamics of parallel robots is presented. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. The algorithm utilizes Jourdain’s principle of virtual power. Therefore, the resulting code is very efficient. The parameter reduction is based on opening the kinematic loops so that general rules known from serial robots can be implemented. The efficiency of the approach is proven by application to model-based control of the hexapod PaLiDA.

Keywords

Parallel Manipulator Inverse Kinematic Inverse Dynamic Parallel Robot Virtual Power 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Martin Grotjahn
    • 1
  • Johannes Kühn
    • 1
  • Bodo Heimann
    • 1
  • Heiko Grendel
    • 2
  1. 1.Hanover Center of MechatronicsUniversity of HanoverGermany
  2. 2.Institute of Production Engineering and Machine ToolsUniversity of HanoverGermany

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