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Dynamic Analysis and Motion Control of a Planar Parallel Manipulator
1 : Modeling and Simulation of Mechanical Systems Laboratory, Abdelmalek Essaadi University, Faculty of Sciences
BP.2121, M'hannech, 93002, Tetouan -
Maroc
In this paper, dynamic analysis of a parallel robot is presented using the most popular approach named the Newton-Euler formulation. In this method, the dynamic formulation for each limb and the moving platform must be derived which leads to the calculation of all forces, and this can be helpful in the design of parallel manipulator. In this way, dynamic formulations of the proposed model are used in motion control strategy of this robot to track and analyze its performance.
