Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures

摘要

Depending on the modeling approach, dynamic analyses of parallel robots often involve expensive computations of undesired constraint forces, cumbersome partial derivatives, or large matrix operations. Decomposing the parallel structure into virtual tree structures and the free platform allows for reducing the system size as well as efficient recursive and parallel computing. Against this background, the Khalil-Ibrahim Method is adapted to the well-known Delta parallel robot. It is shown that the resulting model deftly removes constraint forces while being modularly expandable for analyzing recent design modifications using additional serial chains attached to the parallel Delta structure.