The influence of motion mode and friction on the dynamics of a parallel robot used for orientation applications

Abstract

This paper presents a method for the dynamical modeling of a 3-DOF parallel mechanism without and with friction used for orientation applications (TV satellite antenna or sun tracker). Parallel robots have some advantages over serial ones such as higher stiffness, very good accuracy, high speeds and accelerations, a better weight over payload rate. Using a numerical and graphical simulation, the diagrams for the dynamics representation are computed. In the paper the influence of the task duration and friction on the joint torques is studied. © Springer Science+Business Media B.V. 2009.