Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 25, Issue 2, Pages 409-416Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2008.02.001
Keywords
Dynamics; Kinematics; Parallel robot; Virtual work
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Recursive matrix relations for kinematics and dynamics of the 3-RRR Agile Wrist spherical parallel robot are established in this paper. The prototype of the robot is a three-degrees-of-freedom mechanism with three identical legs. Controlled by concurrent torques, which are generated by some electric motors, the active elements of the robot have three independent rotations. Knowing the rotation motion of the moving platform, we develop first the inverse kinematical problem and determine the velocities and accelerations. Further, the principle of virtual work is used in the inverse dynamic problem. Matrix equations offer iterative expressions and graphs for the power requirement comparison of each of three actuators in two computational complexities: complete dynamic model and simplified dynamic model. (c) 2008 Elsevier Ltd. All rights reserved.
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