Journal article
Dynamic analysis of 6-SPS parallel mechanism
Abstract
This paper presents the kinematics and inverse dynamic analysis of a 6-SPS parallel mechanism based on the principle of Kane. The parameters of orientation and Euler angles of the moving platform are adopted as generalized coordinate. The gravity and inertial forces of all links and moving platform are considered in the mathematical model of inverse dynamics. Both kinematics and inverse dynamics equations are derived. Driving forces–time …
Authors
Wu P; Xiong H; Kong J
Journal
International Journal of Mechanics and Materials in Design, Vol. 8, No. 2, pp. 121–128
Publisher
Springer Nature
Publication Date
June 2012
DOI
10.1007/s10999-012-9181-y
ISSN
1569-1713