Inverse dynamics of 3-RRRT parallel manipulator

  • Xinhua Zhao, Bin Li
  • Published 2008 in
    APCCAS 2008 - 2008 IEEE Asia Pacific Conference…


This paper presents the inverse dynamics analysis of 3-RRRT parallel manipulator with three translational degrees of freedom. Firstly, kinematic analysis of 3-RRRT parallel manipulator is completed using screw theory. Second, the generalized forces of moving platform and all links are expressed in screw formation. Based on these work, the inverse dynamic… (More)
DOI: 10.1109/APCCAS.2008.4746131

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