Abstract
Serial manipulators are mechanisms which consist of a series of single-DOF active revolute or prismatic joints connecting the fixed base to the end-effectors. These robots have good operating characteristics, such as a large workspace and high flexibility, but have some disadvantages, such as low precision, low stiffness and high vibrations and deflections.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Tsai, L.-W.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. Wiley, New York (1999)
McCarthy, J.M.: Dual orthogonal matrix in manipulator kinematics. Int. J. Robot. Res. 5(2), 45–51 (1986)
Staicu, S.: Mecanica Teoretica. Edit. Didactica & Pedagogica, Bucharest (1998)
Staicu, S., Zhang, D.: A novel dynamic modelling approach for parallel mechanisms analysis. Robot. Comput.-Integr. Manuf. 24(1), 167–172 (2008)
Staicu, S.: Dynamics analysis of the star parallel manipulator. Robot. Auton. Syst. 57(11), 1057–1064 (2009)
Dasgupta, B., Mruthyunjaya, T.S.: A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mech. Mach. Theory 33(8), 1135–1152 (1998)
Guegan, S., Khalil, W., Chablat, D., Wenger, P.: Modélisation dynamique d’un robot parallèle à 3-DDL: l’Orthoglide. In: Proceedings of Conférence Internationale Francophone d’Automatique, Nantes (2002)
Li, Y., Xu, Q.: Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism. Robotica 23(2), 219–229 (2005)
Zanganeh, R., Sinatra, R., Angeles, J.: Kinematics and dynamics of a six-degrees-of-freedom parallel manipulator with revolute legs. Robotica 15(4), 385–394 (1997)
Miller, K., Clavel, R.: The lagrange-based model of Delta-4 robot dynamics. Robotersysteme 8, 49–54 (1992)
Xin, G., Deng, H., Zhong, G.: Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the lagrangian formulation with the virtual work principle. Nonlinear Dyn. 86(2), 1329–1347 (2016)
Tsai, L.-W.: Solving the inverse dynamics of Stewart-Gough manipulator by the principle of virtual work. J. Mech. Des. 122(1), 3–9 (2000)
Zhang, C.-D., Song, S.-M.: An efficient method for inverse dynamics of manipulators based on virtual work principle. J. Robot. Syst. 10(5), 605–627 (1993)
Li, Y., Staicu, S.: Inverse dynamics of a 3-PRC parallel kinematic machine. Nonlinear Dyn. 67(2), 1031–1041 (2012)
Staicu, S., Liu, X.-J., Wang, J.: Inverse dynamics of the HALF parallel manipulator with revolute actuators. Nonlinear Dyn. 50(1–2), 1–12 (2007)
Khalil, W., Ibrahim, O.: General solution for the dynamic modeling of parallel robots. J. Intell. Robot. Syst. 49(1), 19–37 (2007)
Tsai, L-W., Stamper, R.: A parallel manipulator with only translational degrees of freedom. In: Proceedings of ASME Design Engineering Technical Conferences, Irvine, CA (1996)
Voinea, R., Stroe, I., Predoi, M.: Technical Mechanics. Edit. Politehnica Press, Bucharest (2010)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Staicu, S. (2019). Dynamics of Constrained Robotic Systems. In: Dynamics of Parallel Robots. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-319-99522-9_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-99522-9_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99521-2
Online ISBN: 978-3-319-99522-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)