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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Mohan, Santhakumar | en_US |
| dc.date.accessioned | 2022-03-17T01:00:00Z | - |
| dc.date.accessioned | 2022-03-21T10:51:28Z | - |
| dc.date.available | 2022-03-17T01:00:00Z | - |
| dc.date.available | 2022-03-21T10:51:28Z | - |
| dc.date.issued | 2016 | - |
| dc.identifier.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 | en_US |
| dc.identifier.isbn | 9789811028441 | - |
| dc.identifier.issn | 1865-0929 | - |
| dc.identifier.other | EID(2-s2.0-84994491752) | - |
| dc.identifier.uri | https://doi.org/10.1007/978-981-10-2845-8_4 | - |
| dc.identifier.uri | https://dspace.iiti.ac.in/handle/123456789/6835 | - |
| dc.description.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. | en_US |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.source | Communications in Computer and Information Science | en_US |
| dc.subject | Dynamics | en_US |
| dc.subject | Flexible manipulators | en_US |
| dc.subject | Geometry | en_US |
| dc.subject | Lagrange multipliers | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Energy-based | en_US |
| dc.subject | Equilateral triangles | en_US |
| dc.subject | Euler-Lagrangian | en_US |
| dc.subject | Orthogonal complements | en_US |
| dc.subject | Planar configurations | en_US |
| dc.subject | Planar parallel manipulators | en_US |
| dc.subject | Manipulators | en_US |
| dc.title | Dynamic modelling approaches for a 3-PPR planar parallel manipulator | en_US |
| dc.type | Conference Paper | en_US |
| Appears in Collections: | Department of Mechanical Engineering | |
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