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https://dspace.iiti.ac.in/handle/123456789/6835
| Title: | Dynamic modelling approaches for a 3-PPR planar parallel manipulator |
| Authors: | Mohan, Santhakumar |
| Keywords: | Dynamics;Flexible manipulators;Geometry;Lagrange multipliers;Robotics;Energy-based;Equilateral triangles;Euler-Lagrangian;Orthogonal complements;Planar configurations;Planar parallel manipulators;Manipulators |
| Issue Date: | 2016 |
| Publisher: | Springer Verlag |
| Citation: | Venkatesan, V., Mohanta, J. K., Saha, S. K., & Santhakumar, M. (2016). Dynamic modelling approaches for a 3-PPR planar parallel manipulator doi:10.1007/978-981-10-2845-8_4 |
| Abstract: | This paper proposes two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration. The planar configuration has three legs each with a Prismatic-Prismatic-Revolute [PPR] configuration where the first joint is actuated. These three legs are joined by an end-effector which is in the form of an equilateral triangle. The dynamics of the manipulator was derived using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices. Both the formulations are elucidated and the resulting formulation are compared under similar conditions to validate them. © Springer Nature Singapore Pte Ltd. 2016. |
| URI: | https://doi.org/10.1007/978-981-10-2845-8_4 https://dspace.iiti.ac.in/handle/123456789/6835 |
| ISBN: | 9789811028441 |
| ISSN: | 1865-0929 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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