Characteristics analysis of dynamic model of a 6-DOF parallel robot manipulator

摘要

Some physical characteristics of the six-degree-of-freedom (6-DOF) parallel robot manipulator are studied sufficiently in this article. Based on the derived dynamic model of the parallel robot manipulator, some physical characteristics of the model are analyzed and proved in detail using matrix analysis method, which consist of two parts: the skew-symmetry of the matrix functions [M(q)—2C(q,q)) and (M_l(l)—2C_l(l,l)), and the linear parameterization of the complete dynamic model of the 6-DOF parallel robot manipulator. These works laid a foundation for the development of the nonlinear control strategies to achieve higher system performance by incorporating more structural system information, i.e. a model into the controller, and proving the stability of the corresponding control system. And furthermore, the linear parameterization model of the complete dynamic model can also be used in the physical parameters estimation of the dynamic system.