Dynamic formulation and simplified model of a novel 3-DOF parallel mechanism with actuation redundancy

Abstract

Dynamics plays an important role in the application of parallel mechanism, which is the key to analyze the dynamic characteristics and achieve high-precision operation. The inverse dynamic model for a novel redundantly actuated parallel mechanism is formulated in the task space using Lagrangian formalism and the driving force is optimized by utilizing the minimal 2-norm method. By investigating the contribution of each term in the dynamic model to the driving force, a simplified strategy of the dynamic model for real-time control application is presented, and the subsequent model error is compensated by adopting RBF neural network. Simulation results verify the correctness and effectiveness of the proposed dynamic model and simplified strategy.