Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cyl... more Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the... more Mechanics of a mobile robot, consisting of a platform, two wheels and a bracket that controls the direction of motion of a small wheel are analysed in the paper. With the relations of connectivity as a base, the characteristic velocities and accelerations of two-degrees-of-freedom non-holonomic mechanical system are derived. According to virtual powers method, expressions and graphs for the torques
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurr... more Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix w... more A recursive matrix model concerning the geometric analysis, kinematics and dynamics of a Bendix wrist planetary bevel-gear train for robotics is established in this paper. The prototype of this mechanism is a three-degree-of-freedom system with seven links and four bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cyl... more Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.
Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta para... more Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
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