Linear Dynamic Modeling of Parallel Kinematic Manipulators from Observable Kinematic Elements.

Erol Ozgür (1, 2) , Nicolas Andreff (3) , Philippe Martinet (1)

1 IP - Institut Pascal
2 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
3 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper presents a linear method for kinematic and dynamic modeling of parallel kinematic manipulators. This method is simple, compact and clear. One can write all the equations from the beginning till the end with pen and paper. It is thus well suited to mechanical understanding and computer implementation. We can apply it to many parallel robots. This method relies on a body-oriented representation of observable rectilinear kinematic structures (kinematic elements) which form the robot legs.

Domaines: Automatique / Robotique

Erol Ozgür, Nicolas Andreff, Philippe Martinet. Linear Dynamic Modeling of Parallel Kinematic Manipulators from Observable Kinematic Elements.. Mechanism and Machine Theory, 2013, 69, pp.73-89. ⟨hal-00838470⟩