Dynamic Parameter Identification Method for a 2(3HUS+S) Parallel Manipulator

To improve the control accuracy of a dynamic controller, the dynamic parameters should be identified. A method for identifying the dynamic parameters of a 2(3HUS+S) parallel manipulator, which only has rotational degrees of freedom, was investigated in this study. Based on the principle of virtual work, a dynamic model was established. In addition, a model for identifying dynamic parameters was established based on the matrix transformation principle. Based on the structure and movement characteristics of a parallel manipulator, an identification strategy of the dynamic parameters was designed using disassembly measurement and system identification methods. The identification strategy was used to identify the dynamic parameters through a motion track design under different conditions, which improves the accuracy of the identification results of a single dynamic parameter. The least squares method was used to improve the identification accuracy of the experiment data. Furthermore, by comparing the confidence level of the driving torque predictive value before and after identification, the accuracy and effectiveness of the method for identifying dynamic parameters were verified.