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	Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification
	Wu, Jun ; Wang, Jinsong ; Wang, Liping ; Li, Tiemin
	2010-10-12 ; 2010-10-12
关键词	Dynamic formulation Parallel manipulator Actuation redundancy Dynamic parameter identification Automation & Control Systems Computer Science, Artificial Intelligence Engineering, Electrical & Electronic Engineering, Mechanical
中文摘要	Utilizing the virtual work principle, this paper presents a method for the dynamic formulation of redundant and non-redundant parallel manipulators for dynamic parameter identification. In modeling, the selection of pivotal point and the computation of inertia force and moment about the pivotal point are more crucial. The selection principle of pivotal point and force transmission on a rigid body are studied. In order to validate the method, the linear form of dynamic models of a 3-DOF parallel manipulator with actuation redundancy and its corresponding non-redundant parallel manipulator are derived. (C) 2009 Elsevier Ltd. All rights reserved.
语种	英语 ; 英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD ; OXFORD ; THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/80236]
专题	清华大学
推荐引用方式 GB/T 7714	Wu, Jun,Wang, Jinsong,Wang, Liping,et al. Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification[J],2010, 2010.
APA	Wu, Jun,Wang, Jinsong,Wang, Liping,&Li, Tiemin.(2010).Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification..
MLA	Wu, Jun,et al."Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification".(2010).

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