Abstract
The design of a planar three-degree-of-freedom parallel manipulator is considered from a dynamic viewpoint.Firstly,the dynamic equations of the planar three degree-of-freedom parallel manipulator based on the Lagrange equation are presented.Then, three different design measures are established for the first time.For example,selection proper balancing masses are added to the system for eliminating the gravity and most of the coupling terms from the dynamical equations.These design measures are useful for improving dynamic properties,controllability,stability and accuracy of the mechanism.Finally,an example is given in order to illustrate the effect of greatly reducing the required actuator torques and consumed energy.The analysis presented,could provide necessary information for dynamic performance analysis,optimization design and control of the parallel mechanism.The method can be easily extended to the dynamic analysis and design of other multi-linkage and multi-degree-of-freedom mechanisms.
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