Comparison of the Dynamic Performance of Planar 3-DOF Parallel Manipulators

Comparison of the Dynamic Performance of Planar 3-DOF Parallel Manipulators

This paper presents a comprehensive comparison study on the dynamic performances of three planar 3-DOF parallel manipulators (PPMs): 3-RRR, 3-PRR, and 3-RPR. In this research work, the discrete time transfer matrix method (DT-TMM) is employed for developing dynamic models of the planar parallel mani...

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Bibliographic Details
Main Authors: Guoning Si, Fahui Chen, Xuping Zhang
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Machines
Subjects:
discrete time transfer matrix method
dynamic modeling
planar parallel manipulator
dynamics dexterity
power requirement
energy transmission efficiency
Online Access:https://www.mdpi.com/2075-1702/10/4/233

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