Abstract
The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.
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