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The presented simulation system enables the
motion visualization in a modular manner valid for
virtually any structure of parallel robot, introducing
the kinematic and dynamic models over the virtual
robot. The introduction of extra conditions related to
any component is possible with a relative small
number of actions. By using the graphical interface
presented in Figure 3, the facilities of the simulation
software enable to develop a complex study about
the robot kinematics and dynamics in order to
optimize the parallel structure.
5 CONCLUSIONS
In this paper a solution for solving of the inverse
dynamics for a 6-DOF parallel robot conceived for a
helicopter simulator has been presented. The
dynamic model derived through virtual work
principle has a compact form and offer the
possibility of a more complex dynamic study in
order to evaluate their dynamic capabilities and to
generate innovative control algorithms.
ACKNOWLEDGEMENTS
This research was financed from the research grants
awarded by the Romanian Ministry of Education
Research and Youth.
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