Dynamic Simulation of a 2-DOF Planar Translational Parallel Robot

In this paper, the kinematics and dynamics of the novel 2-DOF planar Translational Parallel Manipulator (TPM) are presented. The suggested TPM is made up of two P-Pa legs. Since all the linear actuators are mounted on the base, the proposed TPM maybe applied for high speed positioning application. The Lagrangian equations of the first type and kinematic parameters are used to derive the inverse dynamic equations due to the constraints of the TPM. The analytical results of the inverse dynamics equations have been compared with the ADAMS simulation results. These analytical inverse dynamics equations will be used for the real-time computed torque control in the future work.