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Gallardo, J.; Rico, J.M.; Frisoli, A.; Checcacci, D.; Bergamasco, M.
Mechanism and machine theory, 11/2003, Letnik: 38, Številka: 11Journal Article
An approach to the dynamic analysis of parallel manipulators is presented. The proposed method, based on the theory of screws and on the principle of virtual work, allows a straightforward calculation of the actuator forces as a function of the external applied forces and the imposed trajectory. In order to show the generality of such a methodology, two case studies are developed, a 2-DOF parallel spherical mechanism and a Gough–Stewart platform.
