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Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

  • Bo Hu (a1) (a2) (a3), Jingjing Yu (a4) and Yi Lu (a1) (a2)

The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

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  • ISSN: 0263-5747
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