Inverse Dynamics of A 3-DOF Parallel Mechanism Based on Analytical Forward Kinematics

For the development of a parallel mechanism(PM),it is necessary to establish a dynamic model which can accurately meet the requirements of real-time control.Compared with the general dynamic analysis model based on the inverse kinematics,the dynamic analysis model based on the forward kinematics has the advantage of low-complexity.In this paper,a new type of 3-DOF PM with analytical forward displacement analysis is proposed.Different from the general dynamic analysis based on the inverse kinematics,the displacement,velocity and acceleration equations of the PM are established and solved by forward kinematics.The inverse dynamic equation of the PM is constructed and solved by analyzing the forces on each link and based on Newton-Euler method.Then the theoretical results of an example are compared with the simulation results,which shows that the simulation results are basically consistent with the theoretical results.And the maximum error of the driving force of each pair is 1.32%,5.8%and 5.2%,respectively,which verifies the correctness of the dynamic model.The PM has a potential application prospect in the grasping,spraying and picking of workpieces.The research results of this paper provide a theoretical basis for the design,manufacture and application of the PM.