Using virtual work theory and CAD functionalities for solving active force and passive force of spatial parallel manipulators
作者： Yi Lu
DOI: 10.1016/J.MECHMACHTHEORY.2006.06.011
关键词:
摘要: Abstract A novel approach by using virtual work theory and CAD functionalities is proposed for solving active passive forces of spatial parallel manipulators with 3–6 limbs. Some common math foundations, computer variation geometry techniques, definitions are presented designing F / T (force/torque) simulation mechanism. Several 3–5 limbs their mechanisms synthesized. When modify the driving dimensions limbs, configurations varied correspondingly, force solved visualized dynamically.
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