Dynamic Modeling and Base Inertial Parameters Determination of 3- DoF Planar Parallel Manipulator

In this research a comprehensive study is carried out on the dynamic modeling and base inertial parameter determination of a three degree-of-freedom planar parallel manipulator. First, the instantaneous kinematic problem is solved by using a new geometric approach. Based on the foregoing kinematic relations and the concept of link Jacobian matrices, the dynamic model is formulated by means of the principle of virtual work. Furthermore, in order to obtain a more compact formulation for the dynamic analysis, a reduced dynamic model is obtained by determining the base inertial parameters of the manipulator under study and as a result, the number of inertial parameters reduced from 70 to 18, while maintaining the accuracy, the computational time is reduced to 58 % of that of the original dynamic model. Finally, a case study is performed to verify the correctness of the derived models by comparing the results obtained from the formulated models with those obtained from SimMechanics and it has been shown that the results of them are in good agreement.