Dynamic analysis of spherical 2-DOF parallel manipulator with actuation redundancy

The research subject of this paper is spherical 2-DOF parallel manipulator with actuation redundancy, based on kinematic analysis of the manipulator, the inverse dynamic model of the manipulator was established by virtue of Lagrange method. Because end-effector of the manipulator possess 2-DOF, but corresponding 3 driving input, so driving moment of the manipulator has infinite group value in theory, resulting in that assignment of driving moment is non-unique, in this paper, driving moment was optimized by force optimization method and energy consumption optimization method. And via numerical calculating example, comparing the driving moment curve obtained by two methods, we proved that performance of the manipulator was improved because of importing redundant drive, which provide theoretical foundation for establishing control model.