Table 1 Partial velocity and partial angular velocity of the components in 3UPS/S
From: Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator
Component | Partial velocity | Partial velocity | Subscript range |
|---|---|---|---|
Moving platform Wu | \({\varvec{\omega}}_{r}^{{W_{\text{u}} }} = \left. {{\varvec{\omega}}^{{W_{\text{u}} }} } \right|_{{E_{v} = E_{r} }}\) | \({\varvec{v}}_{r}^{{W_{\text{u}}^{*} }} = \left. {{\varvec{v}}^{{W_{\text{u}}^{*} }} } \right|_{{E_{v} = E_{r} }}\) | \(r = 1, \cdots ,3\) |
driving branch\(L_{i}\) | \({\varvec{\omega}}_{r}^{{L_{i} }} = \left. {{\varvec{\omega}}^{{L_{i} }} } \right|_{{E_{v} = E_{r} }}\) | \(\begin{aligned} {\varvec{v}}_{r}^{{L_{\text{u}}^{i*} }} = \left. {{\varvec{v}}^{{L_{\text{u}}^{i*} }} } \right|_{{E_{v} = E_{r} }} \hfill \\ {\varvec{v}}_{r}^{{L_{\text{d}}^{i*} }} = \left. {{\varvec{v}}^{{L_{\text{d}}^{i*} }} } \right|_{{E_{v} = E_{r} }} \hfill \\ \end{aligned}\) | \(r = 1, \cdots ,3\) \(r = 1, \cdots ,3\) |