Inverse kinematic and dynamic analyses of 6-DOF PUS type parallel manipulators

摘要

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators(HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to d mobile platform. In the inverse kinematic analyses, the slider and link motion (position velocity and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.