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On Advances in Robot Kinematics pp 329–335Cite as

Kinematics and Dynamics of a 6-RUS Hunt-Type Parallel Manipulator by Using Natural Coordinates

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Abstract

In this paper the kinematics, (position, velocities and accelerations) and the dynamics of a 6-RUS parallel manipulator by using the natural coordinates are analysed. One numerical example of kinematics and inverse dynamics is presented.

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References

  • Benea, R., (1996), Contribution à l’étude des robots pleinement parallèles de type 6R-RR-S, Doctoral Thesis, Université de Savoie, Annecy, France.

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  • Zanganeh, K.E., Sinatra, R., Angeles, J., (1997), Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs, Robotica, vol. 15, pp. 385–394.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Dep. Campus Arrosadia, Public University of Navarra, 31006, Pamplona, Spain

    J. J. Gil, I. Zabalza, J. Ros, J. M. Pintor & J. M. Jiménez

Authors
  1. J. J. Gil
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  2. I. Zabalza
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  3. J. Ros
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  4. J. M. Pintor
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  5. J. M. Jiménez
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Editor information

Editors and Affiliations

  1. Jožef Stefan Institute, Ljubljana, Slovenia

    J. Lenarčič

  2. University of Genoa, Genoa, Italy

    C. Galletti

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© 2004 Springer Science+Business Media New York

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Gil, J.J., Zabalza, I., Ros, J., Pintor, J.M., Jiménez, J.M. (2004). Kinematics and Dynamics of a 6-RUS Hunt-Type Parallel Manipulator by Using Natural Coordinates. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_36

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  • DOI: https://doi.org/10.1007/978-1-4020-2249-4_36

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-6622-0

  • Online ISBN: 978-1-4020-2249-4

  • eBook Packages: Springer Book Archive

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