The Dynamic Analysis of a Planar Parallel Manipulator with Joint-Coupling

In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption