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Kinematic and dynamic analysis of 2-RRC+SPS parallel manipulator

Kinematic and dynamic analysis of 2-RRC+SPS parallel manipulator,10.1109/ROBIO.2010.5723403,Yongci Han,Xinhua Zhao,Guangzhu Meng

Kinematic and dynamic analysis of 2-RRC+SPS parallel manipulator  
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A novel 2-RRC+SPS parallel manipulator with three translational movements is proposed. The kinematics and dynamics of the manipulator is analyzed. According to its geometric model, a kinematic equation is derived, from which can obtain direct and inverse solution of position. The inverse solution of velocity and acceleration are also derived. The dynamic equation of the manipulator based on the Lagrange equation is presented. Simulation results of the manipulator are obtained by using MATLAB software.
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