Kinematic/dynamic analysis of a 6 DOF parallel manipulator with 3-PPSP serial subchains and its implementation

In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the isotropic characteristics of the output effective inertial matrix. From the analysis results, it mn be concluded that the manipulator has an excellant kinematic and dynamic characteristics required for high precision manipulators. Lastly, a prototype manipulator system is implemented and the joint position semo-controller is applied to the system Noting the manipulator has closed-form forwardreverse position so1utic~ns~81, it is expected that more advanced controller requiring heavy computational burden am be applied to the system in real time to further enhance the perfornme of the system. I. Introduction Parallel mechanism has an excellent structure for exerting high precision performance and hiigh stiffness due to its kinematically constrained structure. However, in general, the complexity of its kinematbddynamic analysis of the parallel mechanism prohibits itself from being applied to various application area.