The Kinematics and the Full Minimal Dynamic Model of a 6-DOF Parallel Robot Manipulator

摘要: In this paper we present a particular architecture of parallel robots which has six-degrees-of-freedom (6-DOF) with only three limbs. The properties the geometric and kinematic models respect to that classical robot are presented. We show inverse problems have an analytical solution. However, solve direct problems, efficient numerical procedure needs 3 × passive Jacobian matrix is proposed. second step, dynamic equations derived using Lagrangian formalism where joint variables active coordinates. Based on geometrical robot, motion in terms nine coordinates related by constraints instead 18 computational cost model obtained reduced minimum set base inertial parameters.