Dynamics of Parallel Robots by Stefan Staicu

Author:Stefan Staicu
Language: eng
Format: epub, pdf
ISBN: 9783319995229
Publisher: Springer International Publishing

7.5 Application to Dynamics Analysis of Mechanisms

Knowing the position and kinematic state of each link as well as the external forces acting on a planar or spatial mechanism, the active forces or torques required in a given motion can easily be obtained first, based on the principle of virtual work [15].

7.5.1 Universal Hooke Mechanism

Leaving aside the friction forces, the key issue in the dynamics analysis for this spatial mechanism is to establish the inverse dynamic modelling when the required actuator torque can be computed, if the time history of rotation motion is given (Fig. 3.​3).

Mounted in a Cardan suspension, the mechanism can artificially be transformed into a set of two open kinematic chains subject to constraints, by cutting the internal passive revolute joint and taking it into account by introducing the corresponding constraint conditions (3.​39).

Applying the equations of the parallel robots dynamics (7.18), based on the fundamental principle of virtual work, the following matrix relation results for the active torque

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