Dynamic analysis of a novel 3-PSP 3-DOF parallel manipulator

This paper addresses the dynamic modeling of a novel 3-PSP 3-DOF spatial parallel manipulator, which is used as a tool head for high speed machining of structural aircraft components. Hereby, the dynamic analysis of the manipulator is very important. Based on the kinematic analysis, the dynamic equation without considering parasitic motions is derived by using the Newton-Euler approach. Since the parasitic motions are a special characteristic of the 3-PSP parallel manipulator, the dynamic modeling considering them is also focused further. The numerical simulation shows that the parasitic motions of the moving platform could be ignored in the dynamic analysis.