Society of Robots - Robot Forum

Mechanics and Construction => Mechanics and Construction => Topic started by: hassen on November 17, 2014, 02:50:00 AM

Title: parallel robot dynamics formulation.
Post by: hassen on November 17, 2014, 02:50:00 AM

Dears,
I want to drive equation for the dynamics of parallel kinematic machine by Newton Euler's approach by I plugging in the kinematics equation in to the dynamics equation but the kinematic equation is already formulated using screw theory. is it possible to access the kinematic equation for the dynamics equation derived by N-E approach?

Thank you

Title: Re: parallel robot dynamics formulation.
Post by: mklrobo on January 25, 2015, 03:32:50 PM

 :) Hello!
 To help you, I would offer a common definition to bond a solution;
"The Newton–Euler equations are used as the basis for more complicated "multi-body" formulations (screw theory) that describe the dynamics of systems of rigid bodies connected by joints and other constraints. Multi-body problems can be solved by a variety of numerical algorithms."
Having quoted that, more information would be needed; specifically, a mechanical free body diagram.
Equations, in this context, will need dimensional anaylsis with forces specifically attached to the
mechanisim, preferably presented in a CAD PDF document.
Simplified, Your forces encapsulated in a systems of equations format, before precision can be resolved.
Good Luck!  :)