The Inverse Dynamics of Cassino Parallel Manipulator.pdfVIP

The Inverse Dynamics of Cassino Parallel Manipulator JOÃO CARLOS MENDES CARVALHO (*), MARCO CECCARELLI (#) (*) Universidade Federal de Uberlândia Faculdade de Engenharia Mecânica, 38400-902 Uberlândia – MG, Brazil e-mail: jcmendes@mecanica.ufu.br (#) Università di Cassino Dipartimento di Meccanica, Strutture, Ambiente e Territorio, Laboratorio di Robotica e Meccatronica, Via di Biasio 43, 03043 Cassino (FR), Italy e-mail: ceccarelli@ing.unicas.it Abstract. In this paper we have presented an analytical model for the dynamics of Cassino Parallel Manipulator – CaPaMan. In order to compute the input torques, which are necessary for a given trajectory of movable platform, the dynamic effects of the movable platform have been superposed to the dynamic effects of articulated parallelograms of the leg design. The dynamic behaviour of movable platform has been analysed by means of Newton-Euler equations and the behaviour of articulated parallelograms has been formulated using the kinetostatic analysis of mechanisms. Results of numerical simulations have been presented to show the feasibility of the proposed approach and performance of CaPaMan.. Keywords: Robot Dynamics, Parallel Manipulators, Numerical Simulation. 1. Introduction Parallel architectures have been extensively studied since they can be used in several applications such as manipulation, packing, assembly and disassembly processes, motion simulation and milling machines. The interest can be justified because they show better rigidity, accuracy positioning and payl