KONG Xianwen. DYNAMIC EQUATIONS OF SIX-DOF PARALLEL ROBOT[J]. ROBOT, 1991, 13(5): 42-45.
Citation: KONG Xianwen. DYNAMIC EQUATIONS OF SIX-DOF PARALLEL ROBOT[J]. ROBOT, 1991, 13(5): 42-45.

DYNAMIC EQUATIONS OF SIX-DOF PARALLEL ROBOT

  • This paper deals with the formulation of explicit dynamic equation of six-DOF parallel robot. Explicit expression of six dimensional inertial force vector related to actuate velocities and accelerations is derived, the first and second-order inertial influence coefficients are defined.Thus establishes the explicit dynamic equation of six-DOF parallel robot by using D’Alembert theorem. Finally a numerical example isgiven.
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