Title: Joint forces in dynamics of the 3-RRR planar parallel robot

Authors: Stefan Staicu

Addresses: Department of Mechanics, University Politehnica of Bucharest, 313 Splaiul Independentei, Bucharest, Romania

Abstract: Recursive matrix relations for the complete dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.

Keywords: robot dynamics; joint forces; robot kinematics; planar robots; parallel robots; virtual work; inverse kinematics; robot positioning; robot velocity; robot acceleration; simulation; input torque; robot actuators.

DOI: 10.1504/IJMRS.2013.057307

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.4, pp.283 - 300

Received: 21 Feb 2012
Accepted: 03 Oct 2012

Published online: 22 Oct 2013 *

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