Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

Samah Shayya 1 Sébastien Krut 2 Olivier Company 2 Cédric Baradat 1 François Pierrot 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The chapter introduces the dynamic analysis of an actuatedly redundant parallel manipulator, called ARROW V1, with 4 Degrees of Freedom (DoF) providing three translations and one rotation (3T-1R). The dynamic measure used is of solid physical significance and applicable to all types of robots: the isotropic linear acceleration.
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Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator. ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.545-553, ⟨10.1007/978-3-319-06698-1_56⟩. ⟨lirmm-01878979⟩



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