Fast Dynamic Model of a Moving-base 6-DOF Parallel Manipulator

Abstract

Dynamic models play an important role in parallel manipulators simulation and control. Mainly in the later case, the efficiency of the involved computations is of paramount importance, because manipulator real-time control is usually necessary (Zhao & Gao, 2009). The dynamic model of a parallel manipulator operating in free space can be represented in Cartesian coordinates by a system of nonlinear differential equations, which may be written in matrix form as       f x G x x x V x x I          , (1)