Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 2
Articles | Volume 8, issue 2
https://doi.org/10.5194/ms-8-235-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-235-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 2
Research article
 | 
28 Jul 2017
Research article |  | 28 Jul 2017

Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Santhakumar Mohan and Burkhard Corves

Viewed

Total article views: 2,444 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
1,497 881 66 2,444 48 48
  • HTML: 1,497
  • PDF: 881
  • XML: 66
  • Total: 2,444
  • BibTeX: 48
  • EndNote: 48
Views and downloads (calculated since 28 Jul 2017)
Cumulative views and downloads (calculated since 28 Jul 2017)

Viewed (geographical distribution)

Total article views: 2,373 (including HTML, PDF, and XML) Thereof 2,355 with geography defined and 18 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 

Cited

Latest update: 14 Dec 2024
Download
Short summary
This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of multibody dynamics software namely MSC Adams.
Read more