2003•Journal of Tsinghua University(Science and Technology)Requires access

Simplified rigid body dynamic model for a parallel kinematics machine under uniform motion

Tiemin Li

Abstract

Rigid body dynamic models of parallel kinematic machines (PKM) are complicated and difficult to use in realtime control systems. A simplified rigid body dynamic model for a 6UPS PKM was developed assuming uniform motion of the machine. The dynamic model is based on the NewtonEuler approach and decomposed into 15 parts. The rigid body dynamics of the PKM was then investigated numerically. The simulation verified the effectiveness of the simplified strategies for the dynamic model. The efficiency of the inverse dynamic computation was increased by 47%～74% while the errors caused by the simplifications were between -99 N and 92 N.

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Key concepts: Kinematics, Rigid body, Inverse dynamics, Computation, Computer science, Rigid body dynamics, Inverse kinematics, Motion (physics)