Jacobian and Dynamic Analysis of 3-RSR Parallel Manipulator

摘要

The external moments and forces, the inertial and gravitational loading of the moving platform of 3 -- RSR parallel manipulator can be mapped back to the actuated joint by using the Jacobian matrix in this paper. First dynamics model on the application of the Newton-Euler equation of motion can be derived, on the basis of the assumption without obviously reducing the accuracy of model. Second dynamics model also can be made by using the Lagrange formulations on the basis of the same assumption made for the model based on Newton-Euler approach. A numerical example of two methods is presented later in this paper. The numerical results using the Lagrange model are agreement with the numerical results using the Newton-Euler model. The desired form of the motor torques is obtained, so the advantage of the first dynamics model is that it is less computation than the Lagrange model.