A General Strategy Based on the Newton-Euler Approach for the
Dynamic Formulation of Parallel Manipulators
by Bhaskar Dasgupta and Prasun Choudhury
Abstract:
This paper presents a general strategy based on the
Newton-Euler approach to the dynamic formulation
of parallel manipulators. It is shown that, for parallel manipulators,
through appropriate selection and ordering of the equilibrium equations,
the Newton-Euler method can be used with advantage not only for inverse
dynamics computations, but also for the derivation of dynamic equations
in closed form. The proposed strategy has been illustrated through its
application to several planar and spatial manipulators. Cases of parallel
manipulators requiring particular considerations are also discussed with
recommendations of special measures to be taken in different classified cases.