Dynamic Analysis of Parallel Manipulators with a Circular Rail. Julia Files

This dataset contains Julia files that solve the inverse dynamic problem of 1-DOF and 6-DOF parallel manipulators, considered in works https://doi.org/10.1016/j.euromechsol.2021.104392 and https://doi.org/10.3390/robotics10010031, respectively. The corresponding paper describing the applied algorithms has been submitted to Multibody System Dynamics. Please check the author's list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes the following files: 1. File "main.jl" is the main file that performs the dynamic analysis and presents the results. 2. File "init.jl" is used to define geometrical and inertial parameters of the manipulators. 3. File "trajectories.jl" is used to set the trajectories of the manipulators. 4. File "kinematics.jl" computes kinematic parameters (positions, velocities, accelerations, etc.) of the links. 5. File "dynamics.jl" computes the motor torques to realize the prescribed motion. 6. File "plots.jl" includes functions that visualize the results of the dynamic analysis. 7. Optional files "Project.toml" and "Manifest.toml" contain information about the used packages.