General Solution for the Dynamic Modeling of Parallel Robots

Wisama Khalil (1) , Ouarda Ibrahim (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures.

Mots clés: Jacobian matrix.

Mots clés: Dynamic modeling; complex structures; parallel robots; simulation; Jacobian matrix

Domaines: Automatique / Robotique

Wisama Khalil, Ouarda Ibrahim. General Solution for the Dynamic Modeling of Parallel Robots. Journal of Intelligent and Robotic Systems, 2007, 49, pp. 19-37. ⟨hal-00401684⟩