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Proceedings of the 15th International Conference on Manufacturing Systems – ICMaS
Published by Editura Academiei Române, ISSN 1842-3183
Vol. No. 1, 2006
"Politehnica" University of Bucharest, Machine and Manufacturing Systems Department
Bucharest, Romania, 26 – 27 October, 2006
pp. 183-186
A PARAMETRIC MODEL OF THE INVERSE DYNAMICS FOR THE 3-PUU CLASS OF PURE TRANSLATIONAL PARALLEL MANIPULATORS
Marco PRINCIPI
Abstract: This paper introduces a parametric formulation of the inverse dynamics problem for the pure translational 3-PUU parallel architecture, aimed to provide a forecast of the solicitations on the mechanic structure and a survey over its stiffness capability to be implemented into an optimization study. The elaborated algorithms were collected in a MATLAB® toolbox and verified by mean of the CAE multibody analysis software MSC visualNastran®.
Key words: pure translational PKM, parametric model of dynamics, 3-PUU, resistance ellipsoids.
Author:
Eng. Marco Principi, Ph.D. student in Artificial Intelligent
Systems, Universitŕ Politecnica delle Marche, Department of
Mechanics, Ancona, Italy, E-mail: m.principi@univpm.it
Electronic mail: orgcom@icmas.eu / General Information: http://www.edition2009.icmas.eu/