Dynamic Performance With Control of a 2DOF Parallel Robot

In this work the dynamic performance and control of a 2DOF parallel robot is conducted. The study is partly motivated by large variations in dynamic performance and control within the reachable workspace of many parallel manipulators. The forward dynamic model of the robot is derived in detail. The connection method is directly utilized for this derivation. Subsequently, a dynamic performance study is undertaken. This reveals important information whilst using a forward dynamic model. A performance index is proposed to determine the variability of performance of the parallel manipulator. Then a trajectory-tracking scenario is undertaken using a linear controller. By means of control, the simulations illustrate the validity of the proposed index for parallel manipulators.Copyright © 2012 by ASME