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What is Inertial Analysis of Parallel Robots about?

This paper discusses the analysis of inertial properties in parallel robots using the generalized inertia matrix (GIM). It proposes two methods, the sub-chain method and the point mass method, to simplify the derivation of GIMs, addressing challenges such as complex closed-loop structures and mixed unit problems. The effectiveness of these methods is demonstrated through various examples, highlighting their application in assessing robot safety and dynamic performance.

Author

abin.gireesh

Language

EN