Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism

摘要

This paper presents an Hamiltonian formulation of the constrained dynamics of a novel tendon driven parallel mechanism. The mechanism is a 2-dof closed 5-bar linkage actuated through a special tendon drive which enhances the kinematic isotropy of the system. The dynamic equations of the system are derived considering the additional degrees of freedom generated by the compliance of the tendon drive. The linearizable and zero-dynamics of the system are shown.