Connection method for dynamic modelling and simulation of parallel kinematic mechanism (PKM) machines

摘要

The design of a PKM (parallel kinematic mechanism) machine usually concentrates on a kinematic analysis but its dynamic control behaviour is not paid equal attention, so there is a need to model a PKM machine dynamically. This paper presents a connection method for dynamic modelling of a PKM machine by introducing active and passive matrices. Using computer algebra, this method makes the dynamic modelling processes available, even though the kinematic constraint Eq. cannot be solved as analytical solutions. The modelling is used successfully for a planar PKM machine, called PAMELA (parallel mechanism with linear actuators). Using dynamic modelling and simulation, we can anticipate the dynamic behaviour of the PAMELA machine and develop a suitable algorithm for the motion control. This enables a better dynamic configuration of the PAMELA machine to be obtained. As a consequence, it speeds up the design process and reduces the development cost before a physical machine is built.