Dynamic analysis of a planar parallel robot with the purpose of obtaining optimal inertial parameters for energy consumption

This paper investigates the dynamic analysis of a 3-DOF parallel robot exhibiting planar motion pattern, by resorting to the principle of virtual work to then end of obtaining an optimal set of dynamic parameters. In order to verify the derived equations, results are compared with simulated model in MSC ADAMS. Furthermore, an optimized trajectory for excitation is calculated and the base inertial parameters are calculated. After that, an optimization method is proposed to fine-tune the robot by adding weights to the links which optimizes the energy consumption of manipulator. This optimization results in more than 50% reduction in the defined cost function on average.