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Analytical mechanics approaches in the dynamic modelling of Delta mechanism

Published online by Cambridge University Press:  21 March 2014

Renato Maia Matarazzo Orsino ,
Tarcisio Antonio Hess Coelho  and
Celso Pupo Pesce
Renato Maia Matarazzo Orsino*
Affiliation:
Department of Mechanical Engineering, Escola Politecnica, University of Sao Paulo, Sao Paulo, Brazil
Tarcisio Antonio Hess Coelho
Affiliation:
Department of Mechatronics and Mechanical Systems Engineering, Escola Politecnica, University of Sao Paulo, Sao Paulo, Brazil
Celso Pupo Pesce
Affiliation:
Department of Mechanical Engineering, Escola Politecnica, University of Sao Paulo, Sao Paulo, Brazil
*
*Corresponding author. E-mail: renato.orsino@gmail.com
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Summary

The increasing importance of computational models for the design of complex mechanical systems raises a discussion on defining some criteria for the selection of adequate modelling methods. This paper aims to contribute to such discussion from an educational point of view. By choosing the Delta parallel mechanism as a typical representative of multi-body mechanical systems, four approaches – one based on the Principle of Virtual Work, two based on Lagrange's formalism, and one based on Kane's formalism – are analysed from the perspective of modelling procedures. Finally, inverse dynamic simulations are carried out along with qualitative comparisons of the considered approaches.

Keywords

Parallel mechanismsManipulatorsKinematicsDynamicsAnalytical mechanicsVirtual workLagrangeKaneNumerical simulation
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 953 - 973
Copyright
Copyright © Cambridge University Press 2014 

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