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Dynamic Modelling of Lower Mobility Parallel Manipulators

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  • First Online:
Multibody Dynamics 2019 (ECCOMAS 2019)

Part of the book series: Computational Methods in Applied Sciences ((COMPUTMETHODS,volume 53))

Abstract

This paper deals with the dynamic modelling of lower mobility parallel manipulators using the screw theory. The proposed approach is developed by considering both the permitted and restricted virtual displacements of a parallel manipulator, leading to the evaluation of intensities of the wrenches of actuations and constraints applied on the moving platform. By introducing the complementary part in terms of generalized constraint forces/torques, it completes the dynamic model of lower mobility parallel manipulators, and provides a feasible way to investigate the dynamic interactions between the limbs and the moving platform.

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References

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Author information

Authors and Affiliations

  1. Tianjin University, Tianjin, China

    Haitao Liu, Weifeng Chen, Tian Huang & Andres Kecskemethy

  2. China University of Geosciences, No. 388 Lumo Road, Wuhan, Wuhan, 430074, People’s Republic of China

    Huafeng Ding

Authors
  1. Haitao Liu
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  2. Weifeng Chen
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  3. Tian Huang
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  4. Huafeng Ding
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  5. Andres Kecskemethy
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Corresponding author

Correspondence to Haitao Liu .

Editor information

Editors and Affiliations

  1. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Andrés Kecskeméthy

  2. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Francisco Geu Flores

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Liu, H., Chen, W., Huang, T., Ding, H., Kecskemethy, A. (2020). Dynamic Modelling of Lower Mobility Parallel Manipulators. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_35

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  • DOI: https://doi.org/10.1007/978-3-030-23132-3_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23131-6

  • Online ISBN: 978-3-030-23132-3

  • eBook Packages: EngineeringEngineering (R0)

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