Abstract
A comparative study of the dynamics of the 3-PRS parallel mechanism between the full case, considering the parasitic motions, and a simplified one, ignoring the parasitic motions, is presented in this work. A simplified dynamic model would be of great interest to determine the dimensions of the actuators and to solve the dynamic problem much easier and faster. The dynamic problem of the manipulator is studied using the Newton-Euler approach and a simulation in Matlab verifies that the parasitic motions can be ignored in the dynamic problem, for some given conditions.
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Acknowledgements
The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de EconomÃa y Competitividad (Project DPI2011-22955), the European Union (Project FP7-CIP-ICT-PSP-2009-3) and the Regional Government of the Basque Country through the Departamento de Educación, Universidades e Investigación (Project IT445-10) and Grant Ref: BFI-2011-443 MOD. AE.
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Herrero, S., Pinto, C., Corral, J., Aginaga, J., Campa, F.J. (2013). Simplified Kinetostatic Model of the 3-PRS Manipulator. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_40
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DOI: https://doi.org/10.1007/978-94-007-4902-3_40
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