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The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator

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Abstract

Dynamic modeling is of great importance regarding computer simulation and advanced control of parallel manipulators.

Due to their closed-loop structure and kinematic constraints, dynamic modeling of parallel manipulators presents an inherent complexity. Despite the intensive investigation in this topic of robotics, mostly conducted in the last 2 decades, additional research still has to be done in this area.

The dynamic model of a parallel manipulator is usually developed using the Newton–Euler or the Lagrange methods. Nevertheless, additional approaches were also investigated, such as the virtual work, and screw theory based approaches.

In this paper, an approach based on the manipulator generalized momentum is studied. This approach is used to obtain the dynamic model of a six degrees-of-freedom parallel manipulator. The involved computational effort is evaluated and compared with the one involved within the classic Lagrange’s formulation. It is showed the proposed approach presents a much lower computational burden.

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Authors and Affiliations

  1. DEMEGI/IDMEC, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    António Mendes Lopes & Fernando Almeida

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  1. António Mendes Lopes
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  2. Fernando Almeida
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Correspondence to António Mendes Lopes.

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Mendes Lopes, A., Almeida, F. The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator. Multibody Syst Dyn 21, 123–146 (2009). https://doi.org/10.1007/s11044-008-9131-5

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  • DOI: https://doi.org/10.1007/s11044-008-9131-5

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