A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

The identification of the dynamic parameters in mechanical systems is important for improving model-based control and performing realistic dynamic simulations. Generally, when identification techniques are applied, only a subset of parameters so-called base parameters can be identified. Moreover, some of these parameters cannot be properly identified if they make a small contribution to the robot dynamics. In this paper, a strategy for dynamic parameter identification of parallel robots in terms of relevant parameters is put forward. The proposed methodology starts from a dynamic model developed by means of the Gibbs–Appell equations. Afterwards, the model is simplified based on the considered geometry of each link and symmetry of the legs. The identification is done by Weighted Least Squares. With statistical considerations, the number of model parameters is reduced until the physical feasibility conditions are met. The strategy has been experimentally tested on two actual 3-DOF parallel robots. The response of the inverse and forward dynamics problem using the identified parameters agrees with experiments.