Dynamic analyses of a parallel planer

Parallel kinematic planer is a new type of PKM. Dynamic character analyses are important to the parallel kinematic mechanism’s control. The paper reviews the conceptions of the PKM’s dynamic and its analyses method. Then based on this introduction, the paper describes a kind of a 4-dof parallel kinematic mechanism by D-H method. Then can utility the traditional technology which is effectively used in serial robot to analyze the parallel kinematic mechanism. By these describes, the paper adopts Newton-Euler to make the mechanism’s dynamic model, and meanwhile the detail calculation process is present too. Finally the paper simulates the dynamic model by the Matlab software. The simulation results indicate the mechanism’s dynamic character and are same as actual controlling.