Dynamic Modeling of Spatial 6-DOF Parallel Robots Using Kane Method for Control Purposes

This paper readdressed the dynamics for spatial 6-DOF parallel robots (PR). With a view of improving the computational efficiency of dynamic equations and simplifying the modeling of PR, PR is regarded as seven rigid bodies, ignoring the complex dynamics of cylinder, and the dynamic equations are derived by using Kane method. The relationship of components of PR is described with geometric algorithms. SimMechanics is employed to build the full computer model of PR for verifying the dynamic equations. Simulation results show that the dynamic model of PR is accurate and effective, and it is more efficient for real time control.