A closed-form formulation for the inverse dynamics of a Cassino Parallel Manipulator

Authors
Carvalho, JCM Ceccarelli, M
Citation
Jcm. Carvalho et M. Ceccarelli, A closed-form formulation for the inverse dynamics of a Cassino Parallel Manipulator, MULTIB S D, 5(2), 2001, pp. 185-210
Citations number
23
Categorie Soggetti
Mechanical Engineering
Journal title
MULTIBODY SYSTEM DYNAMICS
ISSN journal
13845640 → ACNP
Volume
5
Issue
2
Year of publication
2001
Pages
185 - 210
Database
ISI
SICI code
1384-5640(200103)5:2<185:ACFFTI>2.0.ZU;2-T
Abstract
In this paper we have presented an analytical model for the dynamics of a C aPaMan (Cassino Parallel Manipulator). The peculiar kinematic chain and sym metry properties of CaPaMan architecture have been useful to formulate the Newton-Euler equations in a closed-form in order to compute the input torqu es, which are necessary for a given motion trajectory of movable platform. Results of numerical simulations have been reported to prove the soundness of the proposed formulation and will be used for experimental validation of the prototype built in Cassino.