Abstract
A novel 6-DoF parallel manipulator I with three planar limbs is proposed and its dynamics is analyzed systematically. First, its characteristics and DoF are analyzed and calculated. Second, the formulae for solving kinematics of the moving platform and the planar limbs are derived. Third, the formulae for solving the inertial wrench applied on the planar limbs and the moving platform are derived, and dynamics formula is derived for solving dynamic active forces applied onto the planar limbs. Fourth, a singularity of the proposed parallel manipulator is determined and analyzed. Fifth, an analytic example is given for solving the kinetostatics and dynamics of the proposed parallel manipulator, and the solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed by comparing with an existing 6-DoF parallel manipulator.
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