Dynamic models of a six degree of freedom parallel manipulators

In recent years, parallel manipulators have received a lot of attention because of the interest they represent for automated assembly. Equations describing the dynamic behaviour of such manipulators are presented. A complete dynamic model in the operational workspace, useful for simulation, is described. This complete model, too complex to be exploited in a control law, can be simplified. The authors show that it is possible to write, in the form of a simple matrix, a model of a robot which takes into account the principal dynamic interactions. This model is the basis of control structures in the operational workspace.<>