Kinematics and Dynamics of Tripod Parallel Manipulator with a Passive leg
This paper presents kinematics and dynamics of a novel tripod stabilizing platform with a passive leg. Stabilizing platforms with linear actuators have inherent slow dynamic response and therefore are not capable of rejecting fast disturbances. With this concept in mind a stabilizing platform with angular accelerator based active legs is constructed. This configuration hence ensures a high dynamic response and has the potential to reject fast disturbances. First Manipulator’s Roll, Pitch and kinematics are determined then dynamics are obtained using Lagrangian modeling, as it is more tractable and elegant.
Degree of freedom(DOF) Roll Pitch four bar mechanism kinematics dynamics Freudenstine’s equation Lagrangian
Muhammad Younas Nauman Masud
Pakistan Institute of Engineering and Applied Sciences,Islamabad, 44000
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3493-3497
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）