Dynamic Modelling and Analysis of a Novel Redundantly Actuated Parallel Spindle Head

Dynamic modelling and analysis are the basis for precise control of mechanical devices. The present aims to provide a dynamic modelling methodology for redundantly actuated parallel spindle head. For this purpose, a novel redundantly actuated parallel spindle head is taken as an example to demonstrate the modelling process. Firstly, the structure of novel redundantly actuated parallel spindle head is described to reveal its topology of 2PRU &(2PRU)R parallel mechanism. Secondly, a close-loop-based kinematic model is constructed to provide kinematic foundation for further dynamic modelling. Thirdly, a comprehensive dynamic model is established by using the principle of virtual work. Based on the established model, the actuated forces are predicted and further optimized by the least 2-norm criterion. Finally, some numerical simulations are carried out to verify the proposed dynamic modelling methodology. The good agreement between the theoretical and numerical results proves the effectiveness of the proposed dynamic model.