Dynamics of parallel manipulators with hybrid complex limbs — Modular modeling and parallel computing

Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe accurate design control necessitates high-fidelity dynamics models. Such modeling approaches have already been presented PKM with simple limbs (i.e. each limb is a serial kinematic chain). A systematic approach complex that possess loops) was not yet proposed despite the fact many successful comprise limbs. This paper presents modular to of are built as arrangement closed loops. latter referred hybrid limbs, can be found in almost all such Delta robot. method generalizes formulation by means local resolution loop constraints, which known constraint embedding multibody dynamics. constituent elements equations motions (EOM), inverse solution i.e. relation platform motion While conceptually independent used formulation, Lie group employed deriving EOM. frame invariance devising where EOM representative derived particular PKM. topology exploited computation scheme shall allow computationally efficient distributed evaluation overall Finally, applied IRSBot-2 3RR[2RR]R robot, detail.