Title: Using CAD variation geometry solving constrained wrench of some limited-dof parallel manipulators
Abstract: A CAD variation geometric approach combined with Newton-Euler formulation is proposed for solving the active and constrained wrench (force/torque) of some parallel manipulators (PMs). First, a Newton-Euler formulation for solving the active and constrained wrench is presented and the poses of constrained wrench are determined. Second, some basic techniques for constructing the simulation mechanism with active and constrained wrench are described. Third, some limited-dof PMs are presented to illustrate to solve their active and constrained wrench. The simulation solved results have been verified by the analytic approach.
Publication Year: 2009
Publication Date: 2009-01-01
Language: en
Type: article
Indexed In: ['crossref']
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