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Dynamic modelling approaches for a 3-PPR planar parallel manipulator
V. Venkatesan, , S.K. Saha, M. Santhakumar
Published in Springer Verlag
Volume: 627
Pages: 41 - 52
This paper proposes two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration. The planar configuration has three legs each with a Prismatic-Prismatic-Revolute [PPR] configuration where the first joint is actuated. These three legs are joined by an end-effector which is in the form of an equilateral triangle. The dynamics of the manipulator was derived using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices. Both the formulations are elucidated and the resulting formulation are compared under similar conditions to validate them. © Springer Nature Singapore Pte Ltd. 2016.
About the journal
JournalData powered by TypesetCommunications in Computer and Information Science
PublisherData powered by TypesetSpringer Verlag