Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Dynamics Analysis of a 2-DOF Planar Translational Parallel Manipulator

2자유도 평면 병진 병렬형 기구의 동역학 해석

  • Received : 2013.02.12
  • Accepted : 2013.04.02
  • Published : 2013.04.15
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Abstract

In this paper, the dynamics of a novel 2-DOF planar Translational Parallel Manipulator (TPM) is analyzed. The suggested TPM is made up of two PPa (Prismatic-planar Parallelogram) legs. Since all the linear actuators are mounted on the base, the proposed TPM can be applied for high speed positioning applications. The Lagrangian equations of the first type is employed to derive the inverse dynamic equations. It is shown that the analytical inverse dynamics equations match very well with ADAMS simulations. These analytical inverse dynamics equations will be used for the real-time computed torque control in the further work.

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References

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