Title: Dynamic modelling of a 4-DOF parallel kinematic machine with revolute actuators

Authors: Stefan Staicu, Dan Zhang

Addresses: Departement de Mecanique, Universite Polytechnique de Bucarest, Romania. ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Canada.

Abstract: Recursive matrix equations for kinematics and dynamics analysis of a 4-DOF parallel manipulator with a passive constraining leg and revolute actuators are presented in this paper. The prototype of this robot is a spatial mechanism, which has two translation degrees of freedom and also two rotation degrees of freedom. The manipulator consists of a base platform, a moving platform and a system of four connecting legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices in which high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the torques of all actuators are analysed and determined.

Keywords: parallel manipulators; parallel kinematic machines; PKM; dynamic modelling; recursive matrix method; revolute actuators; parallel robots; inverse dynamics; torque.

DOI: 10.1504/IJMR.2008.017414

International Journal of Manufacturing Research, 2008 Vol.3 No.2, pp.172 - 187

Published online: 06 Mar 2008 *

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