On Dynamic Modelling of Parallel Manipulators: the Five-Bar Mechanism as a Case Study
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It is well-known that the dynamics of parallel manipulators must satisfy some constraints imposed by the closed kinematic chains. This paper presents a comparison between two methods for dynamic modelling of parallel robots, which are based on the projection of the dynamics of the constrained system into the tangent space of the constraint manifold. One method uses the Lagrange equations, the other starts from the Newton-Euler equations, but at the end both methods result to be equivalent, since they produce the same dynamic model. In order to verify this, both methods are used to model a five-bar mechanism.
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