Inverse Dynamics of a 5-DOF Reconfigurable Parallel Robot
| Categories |
Konferenz (reviewed) |
| Year | 2011 |
| Authors | Plitea, N.; Hesselbach, J.; Pisla, D.; Raatz, A.; Vaida, C.; Prodan, B.; Dadarlat, R. |
| Published in | 13th World Congress in Mechanism and Machine Science (IFToMM 2011), Guanajuato, Mexiko, 2011, A12_490 |
Description
Reconfigurable robots can be defined as a specific category of robots in which their components (individual joints and links) can be assembled in different configurations and geometries. The paper presents the inverse dynamic model for a 5-DOF reconfigurable parallel robot using virtual work principle. Some simulation results for this reconfigurable parallel robot are illustrated as well. The results of the analytic dynamic model have been validated by means of a Multi- Body simulation.
