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liu zi you du bing lian ji qi ren dong li xue fang cheng
Pages: 42-45
Year: Issue:  5
Journal: Robot

Keyword:  parallel robotdynamic equationinfluence coefficient;
Abstract: This paper deals with the formulation of explicit dynamic equation of six-DOF parallel robot. Explic-it expression of six dimensional inertial force vector related to actuate velocities and accelerations is de-rived, the first and second-order inertial influence coefficients are defined.Thus establishes the explicit dy-namic equation of six-DOF parallel robot by using D'Alembert theorem. Finally a numerical example isgiven.
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