Kinematics and Dynamics Analysis of Planar 3-RRR Parallel Robots
Kinematics and dynamics of planar 3-RRR parallel robots are presented. Firstly, kinematic equations of planar 3-RRR parallel robots are given. Then, dynamic model of the system based on Lagrange equations is obtained. Finally, the change of the drive torque and energy consumption of active joints are analyzed under the different trajectories and different loads of the moving platform is given, the results showed that the mass and trajectory of the moving platform have a critical influence on drive torque and energy consumption of the active joint. These are very important for the optimum design of the manipulator and the excellent design of the dynamic controller.
Q. H. Zhang and X. M. Zhang, "Kinematics and Dynamics Analysis of Planar 3-RRR Parallel Robots", Applied Mechanics and Materials, Vols. 229-231, pp. 582-587, 2012