Dynamic Study on Three-leg Parallel Robot

A dynamics model for a newly developed three-leg parallel robotic mechanism was established by Lagrange approach. The model, as an explicit expression, is convenient to calculate, thus providing a basis on which the real time control of forces and torques are available to the robot. The operability and the dynamic behavior of the robot were analyzed using the dynamics model, with the robot evaluated and simulated dynamically by means of an inertia ellipsoid for operability. The results showed that the greater characteristic coefficient the robot is, the worse the operability will be within the workspace of the robot. So, if the characteristic coefficient is not higher than 2, the operability of the robot shows well through the geometrical representation. As a conclusion, the dynamic behavior of the robot is good and fairly applicable.