Complete dynamic modelling of a moving base 6-dof parallel manipulator

Authors:
António m. Lopes
Affiliations:
Unidade de integração de sistemas e processos automatizados, faculdade de engenharia, universidade do porto, rua dr. roberto frias, 4200-465 porto, portugal
Venue:
Robotica
Year:
2010

Citing 8
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Abstract

In this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.