Abstract
In the first part of the paper a structural study of two types of 3-DOF parallel mechanisms with triangle platform is reported. A comparison between their geometric models is performed. Kinematics and dynamics using Newton-Euler formalism for a concrete case of 3RRS parallel structure used for orientation applications (TV satellite antenna or sun tracker) are presented. In order to get the drive torques, which are necessary to overcome the frictions from the joints, the principle of virtual power is applied. The algorithms and simulation results for the workspace and singularities generation are provided. Diagrams for the dynamics representation are computed by means of numerical and graphical simulations
About this article
Received
January 14, 2009
Accepted
March 10, 2009
Published
March 31, 2009
Keywords
parallel robots
kinematics
dynamics
workspace
singularities
friction
Copyright © 2009 Vibroengineering
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