General Solution for the Dynamic Modeling of Parallel Robots

Authors:
Wisama Khalil;Ouarda Ibrahim
Affiliations:
IRCCyN, U.M.R 6597 C.N.R.S, Ecole Centrale de Nantes, Nantes Cedex 03, France 44321;IRCCyN, U.M.R 6597 C.N.R.S, Ecole Centrale de Nantes, Nantes Cedex 03, France 44321
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures.