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TableĀ 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\(L_{i}\) \({\varvec{\omega}}_{r}^{{L_{i} }} = \left. {{\varvec{\omega}}^{{L_{i} }} } \right|_{{E_{v} = E_{r} }}\) \(\begin{aligned} {\varvec{v}}_{r}^{{L_{\text{u}}^{i*} }} = \left. {{\varvec{v}}^{{L_{\text{u}}^{i*} }} } \right|_{{E_{v} = E_{r} }} \hfill \\ {\varvec{v}}_{r}^{{L_{\text{d}}^{i*} }} = \left. {{\varvec{v}}^{{L_{\text{d}}^{i*} }} } \right|_{{E_{v} = E_{r} }} \hfill \\ \end{aligned}\) \(r = 1, \cdots ,3\)
\(r = 1, \cdots ,3\)