A Reduced Model for Constrained Rigid Bodies with Application to Parallel Robots

摘要

In this paper we derive a reduced model, that is a model in terms of independent generalized coordinates, for the equations of motion of constrained rigid bodies including closed-chain mechanisms. We characterize the domain of vadlidity of the model in which the constrained mechanism satisfies the constraints and is not in a singular configuration. We use our results to derive the equations of motion of a planar version of the Delta parallel robot.