Dynamics of Parallel Manipulator Using Sub-Structure Kane Method

Sub structure Kane method, which is very suitable for modeling the dynamic equations of parallel manipulator, was proposed. In this method, each serial link is treated as independent sub structure, the dynamic equations of system are composed of the equations of each link according to the constraints among sub structures. Those constraints are eliminated to obtain the system dynamic equations. As an example, a Stewart platform manipulator is used to explain the modeling process by this method. Compared to the Newton Euler method, Lagrange method and traditional Kane method, the modeling process is very simple. Moreover, the final system equations are very concise and computationally efficient.