Rigid Multibody Dynamics

Abstract

Dynamic modeling  of parallel manipulators is usually grouped into three main modeling approaches, i.e., the Lagrangian formulation, the Newton–Euler equations and the principle of virtual work. This sections firstly introduced the general modeling procedure and principles of the previous approaches in detail. Then, different approaches are applied to several four-limb parallel PnP robots as illustrative examples, for which the computer-aided modeling approach was adopted for comparison to show the effectiveness of the analytical model.