Rigid-body inverse dynamics of a spatial redundantly actuated parallel mechanism constrained by two point contact higher kinematic pairs

Rigid-body inverse dynamics of a spatial redundantly actuated parallel mechanism constrained by two point contact higher kinematic pairs

This paper presents a comparative study of the rigid-body inverse dynamics of a spatial redundantly actuated parallel mechanism constrained by two point contact higher kinematic pairs (HKPs). Firstly, its constrained motions are analysed comprehensively, then four different models are formulated by...

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Bibliographic Details
Main Authors: Cheng Chen, Yuan Xiaojing, Chen Yanjie, Dang Yu
Format: Article
Language:English
Published: EDP Sciences 2023-01-01
Series:Mechanics & Industry
Subjects:
inverse dynamics
higher kinematic pair
spatial parallel mechanism
redundant actuation
Online Access:https://www.mechanics-industry.org/articles/meca/full_html/2023/01/mi220079/mi220079.html

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