Dynamic Modeling of Spatial 6-Dof Parallel Manipulator Using Kane Method

In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions, a typical PID controller is developed for dynamic models in both Simulink and SimMechanics. Simulation results show that the responses of the dynamic model using Kane method in Simulink are fully consistent with that of SimMechanics, the dynamic models in both Simulink and SimMechanics are exact.