Verification of the Dynamics of the 5-DOF Gantry-Tau Parallel Kinematic Machine

C. Lyzell (Sweden) and G. Hovland (Norway)


Robotics, parallel, modeling, identification, Tau.


In this paper the 5-DOF dynamics of a full-scale parallel kinematic machine (PKM) is verified. The dynamics of PKMs are more difficult and computational expensive than the dynamics for serial machines. To our knowledge, this is the first time that such a dynamics verification has been published. The experimental results show that the dynam ics model fits the experiments with errors in the range of only 1 to 25 percent. The structures of most PKMs allow these machines to be used in applications requiring high speeds and accelerations. An accurate dynamics model is a pre-requisite when designing controllers for such applica tions.

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