Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator

Abstract

Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair (3-RRC) parallel manipulator. This 3-RRC parallel manipulator is composed of a moving platform, a base platform, and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform. Firstly, kinematics analysis for 3-RRC parallel manipulator was conducted. Next, on the basis of Lagrange formula, a simply-structured dynamic model of 3-RRC parallel manipulator was derived. Finally, through a calculation example, the variation of motorial parameters of this 3-RRC parallel manipulator, equivalent moment of inertia, driving force/torque and energy consumption was discussed. The research findings have important significance for research and engineering projects such as analyzing dynamic features, mechanism optimization design and control of 3-RRC parallel manipulator.