Inverse dynamics of hexa parallel robot using lagrangian dynamics formulation

Mahdi Ahmadi, Mehdi Dehghani, Mohammad Eghtesad, Ali Reza Khayatian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

In this paper we will study dynamical model of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots' relationships there are few works done on their dynamical modeling. Although Newtonian approach is a straightforward method, it may not directly result in a suitable model for most of famous control schemes such as robust, adaptive or robust-adaptive; this model is usually calculated from Lagrangian formulation. Since parallel manipulators are usually very nonlinear, using Lagrange equation of the second type is a tremendous work while Lagrange equation of the first type decreases much complexity. Also we have written software, HEXA STUDIO, suitable for design, kinematics, dynamics and control of the Hexa robot.

Original languageEnglish (US)
Title of host publication12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
Pages145-150
Number of pages6
DOIs
StatePublished - 2008
Event12th International Conference on Intelligent Engineering Systems, INES 2008 - Miami, FL, United States
Duration: Feb 25 2008Feb 29 2008

Publication series

Name12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008

Other

Other12th International Conference on Intelligent Engineering Systems, INES 2008
CountryUnited States
CityMiami, FL
Period2/25/082/29/08

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