Code implementation for modeling parallel robots (PKM) with complex loops, and a Delta robot example

Published: 1 October 2021| Version 1 | DOI: 10.17632/rcyzk45ktr.1
Contributor:
Andreas Mueller

Description

This is the Mathematica code implementation of the formulation of dynamics motion equations (EOM) for parallel kinematics robots (PKM) presented in the paper A. Mueller: "Dynamics of Parallel Manipulators with Hybrid Complex Limbs - Modular Modeling and Parallel Computing", Mechanism and Machine Theory, 2021, https://doi.org/10.1016/j.mechmachtheory.2021.104549 This dataset includes: * Lie group implementation of the kinematic and dynamics EOM * Example of a 3 DOF Delta robot * C code export and implementation in Matlab

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Institutions

Johannes Kepler Universitat Linz

Categories

Robotics, Parallel Algorithm, Kinematics, Nonlinear Control System, Dynamics of Mechanism, Parallel Manipulator, Lie Group, Euclidean Space

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