Abstract
A novel Udwadia–Kalaba approach for redundant parallel manipulator dynamics is presented in this article. This methodology is explicit and simple which is suitable for systems with holonomic or non...
Highlights
Parallel manipulators have potential advantages of high stiffness, high accuracy, low inertia, and high payload due to their closed-loop kinematic chain mechanism
We show in detail how to use Udwadia– Kalaba approach to obtain the dynamic characteristics of the 2-DOF parallel manipulator
The main reason for studying closed-loop parallel manipulators is that it has the advantage of high precision, high stiffness, high payload, and low inertia, so they have broad application prospect
Summary
Parallel manipulators have potential advantages of high stiffness, high accuracy, low inertia, and high payload due to their closed-loop kinematic chain mechanism. We establish the dynamical model of the unconstrained parallel manipulator; in this process, we segment it into several subsystems and put them together due to the constraints in the common joint. We analyze both the direct dynamics and inverse dynamics of the parallel manipulator using Udwadia–Kalaba approach. Assume that the coordinate of the active joints is (xa[1], ya1), (xa[2], ya2), and (xa[3], ya3), respectively For this parallel manipulator, three open chains with one same point O can generate four constraint equations. For the relationship between the first open chain and the third open chain, we get
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
