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natural orthogonalcomplement

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Kinematics anddynamics of a six-degree-of-freedom parallel manipulator with revolutelegs
Kourosh E. Zanganeh, Rosario Sinatra, Jorge Angeles
Journal:

Robotica / Volume 15 / Issue 4 / July 1997

Published online by Cambridge University Press:

01 July 1997, pp. 385-394
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This paper presents the kinematics and dynamics of asix-degree-of-freedom platform-type parallel manipulator with six revolute legs,i.e. each leg consists of two links that are connected by a revolute joint.Moreover, each leg is connected, in turn, to the base and moving platforms bymeans of universal and spherical joints, respectively. We first introduce akinematic model for the manipulator under study. Then, this model is used toderive the kinematics relations of the manipulator at the displacement, velocityand acceleration levels. Based on the proposed model, we develop the dynamicsequations of the manipulator using the method of the natural orthogonalcomplement. The implementation of the model is illustrated by computersimulation and numerical results are presented for a sample trajectory in theCartesian space.