Dynamics of the Manipulator with Closed Chains

Shir-Kuan Lin*

*Corresponding author for this work

研究成果: Article

16 引文 斯高帕斯(Scopus)


This communication uses the concept of dynamic equilibrium to derive a relation with which the actuator forces of a manipulator with a closed kinematic chain can be calculated like those of a manipulator with an open chain. Although the result is equivalent to Luh and Zheng's [1], the present method provides the physical insight of dynamics of the manipulators with a closed kinematic chain. This relation also leads to the dynamic equations of motion with a minimal dimension for a closed kinematic chain. The semi-direct-drive robot is taken as an illustrative example. The numerical results verify the theory. The computational complexity of the inverse dynamics of this robot is also discussed.

頁(從 - 到)496-501
期刊IEEE Transactions on Robotics and Automation
出版狀態Published - 1 一月 1990

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