A comparison study on the dynamics of planar 3-DOF 4-RRR, 3-RRR and 2-RRR parallel manipulators

作者：Wu, Jun^*; Wang, Jinsong; You, Zheng

来源：Robotics and Computer-Integrated Manufacturing, 2011, 27(1): 150-156.

DOI：10.1016/j.rcim.2010.07.001

• Comparison study
• Dynamic model
• Parallel manipulator
• Kinematics
• Jacobian matrix
• Dynamic performance

This paper presents a comparison study on the dynamics of three planar 3-DOF parallel manipulators one with 3-RRR structure and the other two with 2-RRR and 4-RRR structures The inverse kinematics and Jacobian matrix of these mechanisms are analyzed The dynamic formulations in the linear form are derived and a d

• 出版日期2011-2
• 单位清华大学