Abstract
The performance measurements for the parallel manipulator can be divided into kinematic and dynamic indexes. The kinematic estimations have been well explored and contributed in the parallel structure selection, singularity avoidance and dimension synthesis. The dynamic performance assessments will also have significant contributions for parallel robots. In this research, the complete inverse dynamic model is formulated via the Lagrangian approach and verified by the simulation results. Two novel dynamic indices are proposed to explore the coupled inertia features among different kinematic limbs. The multiple dynamic indices are analyzed and compared on two translational parallel mechanisms with similar joint configurations. A feasible controller is provided to track the desired trajectory of the mobile platform.
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