Studies regarding the Kinematic and Dynamic Analysis of Parallel Mini-manipulators
نویسنده
چکیده
One of the most important approaches in the scientific research concerning the increase of the positioning accuracy is the use of parallel structures. Parallel kinematic structures have a series of advantages that makes them adequate for the mini-robots construction: actuator positioning on the seating, miniaturization, stiffness, positioning precision and repeatability, actuators separation from the workspace. The problems concerning the kinematics and the dynamics of parallel robots are, as a rule, more complicated than those of serial ones. The dynamic modeling of parallel robots presents an inherent complexity due to their closed-loop structure and kinematic chains [3]. The paper presents the algorithms for the kinematic and dynamic analysis of two 6 DOF parallel mini-manipulators: 3PPRS and 3-PPSR (so called guided in three points mechanisms). The obtained simulation results have shown that the developed models have a compact structure and could be used for the real-time control of the parallel mini-manipulators.
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