Nadia Ramona Rat

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Abstract-The paper presents dynamic modeling and VR (virtual reality) simulation issues for two 3 DOF medical parallel robots with three coupled motions (Orthoglide robot and with one coupled motion, robot of type 2PRRR+1PRPaR). Kinematical and dynamical models, followed by a VR application with control aspects are presented for these robots. The innovative(More)
The paper presents the dynamic modeling of a 3 DOF parallel robot of type 1PRRR+2PRPaR. Kinematical and dynamical analytical models using Lagrange formulation with multipliers in rigid links hypothesis are carried out, followed by numerical simulation of the rigid vs. flexible links robot models. The flexible links models are derived using AutoFlex(More)
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