Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle
- 1 August 2010
- journal article
- Published by Trans Tech Publications, Ltd. in Applied Mechanics and Materials
- Vol. 29-32, 744-749
- https://doi.org/10.4028/www.scientific.net/amm.29-32.744
Abstract
Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform.This publication has 5 references indexed in Scilit:
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