Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law

  • N. Yu. Nosova
  • S. V. Kheilo
  • V. A. Glazunov
  • A. V. Tsar’kov
Mechanics of Machines


A parallel manipulator with six degrees of freedom is considered. A dynamic model for the spherical part of the manipulator is presented. Dynamic analysis is carried out. The real laws of motion of the output link of the spherical part of the manipulator are determined by the screw theory method based on solution of the inverse dynamic problem and the direct velocity problem. The effect of the initial conditions and feedback coefficients on the error of the real law of motion of the output link is analyzed.


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© Allerton Press, Inc. 2018

Authors and Affiliations

  • N. Yu. Nosova
    • 1
    • 4
  • S. V. Kheilo
    • 2
  • V. A. Glazunov
    • 1
  • A. V. Tsar’kov
    • 3
  1. 1.Mechanical Engineering Research InstituteRussian Academy of SciencesMoscowRussia
  2. 2.Russian State University (Technology, Design, Art)MoscowRussia
  3. 3.Kaluga BranchMoscow State Technical UniversityKalugaRussia
  4. 4.National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)MoscowRussia

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