Y. Lu, B. Hu, and J. Yu
Parallel manipulator, kinematics, dynamics
A unified and simple approach is proposed for solving the dynam- ics of limited-dof parallel manipulators (PMs) with linear active legs. First, a general limited-dof PM is constructed and its in- verse displacement, geometric constraints, static active forces and constrained wrench are analyzed, and a statics equation is derived. Second, some formulae are derived for solving the Jacobian matrices and velocity/acceleration of the piston/cylinder in the legs. Third, the inertia wrenches/gravity of the legs, and the friction loads of the joints are transformed into a part of the dynamic workload based on the unified forward velocity/accelerations of the platform and the legs. Fourth, formulae are derived for solving the dynamic workloads and the dynamic active/constrained wrench based on a statics equation. Finally, the solving procedures are illustrated by applying this approach to a 4-dof 3SPS+SP PM.
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