Quasi-Coordinates-Based Closed-Form Dynamic Modeling and Analysis for a 2R1T PKM with a Rigid–Flexible Structure

Quasi-Coordinates-Based Closed-Form Dynamic Modeling and Analysis for a 2R1T PKM with a Rigid–Flexible Structure

This work derives a closed-form dynamic model for a two rotational and one translational degrees-of-freedom (2R1T) parallel kinematic mechanism (PKM) with a hybrid rigid–flexible structure for force-control applications. Based on the three-prismatic-prismatic-spherical (3PPS) kinematic configuration...

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Bibliographic Details
Main Authors: Renfeng Zhu, Guilin Yang, Zaojun Fang, Chin-Yin Chen, Huamin Li, Chi Zhang
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Machines
Subjects:
2R1T parallel kinematic mechanism
rigid–flexible structure
closed-form dynamic model
quasi-coordinates
Lagrangian formulation
principle of virtual work
Online Access:https://www.mdpi.com/2075-1702/11/2/260

Internet

https://www.mdpi.com/2075-1702/11/2/260

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