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Static and Dynamic Analysis of the PAMINSA (Parallel Manipulator of the I.N.S.A.)

[+] Author Affiliations
Vigen Arakelian, Sylvain Guégan, Sébastien Briot

INSA, Rennes, France

Paper No. DETC2005-84679, pp. 803-809; 7 pages
doi:10.1115/DETC2005-84679
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

In this paper we present an analytical approach for the static and dynamic analysis of the PAMINSA, a new 4 degrees of freedom parallel manipulator that has been designed at the I.N.S.A. in Rennes. On the base of the developed static model, the input torques due to the static loads are reduced by means of the optimum redistribution of the moving link masses. The analytical dynamic modeling of the PAMINSA by means of Lagrange equations is achieved. A numerical example and a comparison between the suggested analytical model and an ADAMS software simulation are presented.

Copyright © 2005 by ASME

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