Efficient dynamic modeling of a hexa-type parallel manipulator

Abstract

Dynamic modeling of parallel manipulators is difficult due to the existing multiple closed-loops and kinematic constraints. Generally speaking, all dynamic modeling approaches use classical mechanics principles, leading to equivalent dynamic equations. Nevertheless, these equations may present different levels of complexity and computational loads. This chapter presents the generalized momentum approach to derive the inverse dynamic model of a Hexa-type fully-parallel manipulator. This approach showed high computational efficiency, measured by the number of arithmetic operations involved in the computation of the manipulators inertia and Coriolis and centripetal terms matrices.