A COMPUTATIONAL EFFICIENT APPROACH TO THE DYNAMIC MODELING OF 6-DOF PARALLEL MANIPULATORS
Due to their closed-loop structure and kinematic constraints, dynamic modeling of parallel manipulators presents an inherent complexity.
In this paper an approach based on the manipulator generalized momentum is proposed. This approach is used to obtain the dynamic model of a six degrees-of-freedom parallel manipulator. The involved computational effort is evaluated and compared with the one involved within the classic Lagrange’s formulation. It is showed the proposed approach presents a much lower computational burden.