Abstract
This paper proposes a dynamic modeling and performance analysis method of a novel 2-PUR-PSR parallel manipulator with parasitic motion, and P, U, S, R represent the prismatic joint, universal joint, spherical joint, and revolute joint, respectively. The explicit inverse dynamic equation of the parallel manipulator is derived by using Lagrangian formulation. The dynamic manipulability ellipsoid is introduced and divided into rotational and translational dynamic performance index to evaluate the dynamic performance of the parallel manipulator. In order to testify the feasibility of the proposed method, numerical simulations of the parallel manipulator with the given trajectory and workspace is conducted. Then, the actuation forces and the distribution of dynamic index are obtained.
Published Version
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