Abstract
We present on approach for the dynamic analysis of parallel manipulators
which is based on the principle of virtual work. The approach is
firstly illustrated using a simple example, namely, a planar four-bar
linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom
parallel manipulator with prismatic actuators (Gough-Stewart platform)
is performed. Finally, a numerical example is given in order to illustrate
the numerical aspects of the algorithms.
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