Kinematic Influence Coefficient based Dynamic Modeling of a 6-DOF Parallel Manipulator System

A six-degree-of-freedom parallel manipulator system based on 6-PURU structure is developed for vehicles' motion simulation. The main research in this paper is focused on dynamic modeling of the proposed parallel system. The kinematic model of the proposed system is established via kinematic influence coefficient method, in which the velocity and acceleration mappings between the passive components and actuated components are more accurate compared to the equivalent 6-PUS or 6-PSS systems. Based on the kinematics analysis, the dynamic model of the parallel kinematic machine is then formulated via the principle of virtual work. Finally a numerical calculation is performed based on the proposed dynamic model which matches the simulation results of commercial software. The approach outlined in this paper is generic and can be extended to a variety of applications.