Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components

This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with flexure hinges. Based on our previous research experiences in the systematical modeling and study of parallel robots, a dynamic modeling has been performed by using Kane´s method and Newton-Euler equation. A state-space framework is defined to facilitate the design of an optimal controller. Numerical simulations are presented to verify the validity of both models. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on dynamic characteristics based on novel parallel manipulators.