文档介绍：Mechanism and Machine Theory 44 (2009) 1045–1057
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Power parison in the 3-RPR planar parallel robot dynamics
Stefan Staicu *
Department of Mechanics, University ‘‘Politehnica” of Bucharest, 313 Splaiul Independentei, Bucharest, Romania
article info abstract
Article history: Recursive matrix relations for kinematics and dynamics of monly known 3-RPR
Received 17 June 2007 planar parallel robots are established in this paper. Three identical planar legs connecting
Received in revised form 19 January 2008 to the moving platform are located in the same plane. Knowing the motion of the platform,
Accepted 9 May 2008
we develop first the inverse kinematical problem and determine the positions, velocities
Available online 30 June 2008
and accelerations of the robot. Further, the principle of virtual work is used in the inverse
dynamic problem. Several matrix equations offer iterative expressions and graphs for the
power parison of each of three actuators in two different actuation
Keywords:
schemes: revolute actuators and prismatic actuators. For the same evolution of the moving
Dynamics
Kinematics platform in the vertical plane, the power distribution upon the three actuators depends on
Planar parallel robot the actuating configuration, but the total power absorbed by the set of three actuators is
Virtual work the same, at any instant, for both driving systems.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
Parallel manipulators are closed-loop mechanisms that consist of separate serial chains connecting the fixed base to the
moving platform. Compared with serial manipulators, the followings are the potential advantages of parallel architectures:
higher kinematical precision, lighter weight and better stiffness, greater load bearing, stabile capacity and suitable position
of arrangement of actuators. But, from application point of v