Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator

<table class="fixed-width table-group" id="tab1"><tr><td><table class="table"><colgroup><col style="width:20.34em"/><col style="width:3.90em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center">Values</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Ellipse’s long distance of upper joint (mm)</td><td class="align_center">150</td></tr><tr><td class="align_left">Ellipse’s short distance of upper joint (mm)</td><td class="align_center">142</td></tr><tr><td class="align_left">Ellipse’s long distance of lower joint (mm)</td><td class="align_center">170</td></tr><tr><td class="align_left">Ellipse’s long distance of lower joint (mm)</td><td class="align_center">149</td></tr><tr><td class="align_left">Maximal stroke of linear electric cylinder (mm)</td><td class="align_center">50</td></tr><tr><td class="align_left">Initial length of linear electric cylinder (mm)</td><td class="align_center">160</td></tr><tr><td class="align_left">Masses of moving platform and joints (Kg)</td><td class="align_center">0.33</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of the experimental parallel intelligent manipulator.</div>

Mathematical Problems in Engineering

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Table 1: Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator 