Static and Dynamic Analysis of the PAMINSA
Résumé
In this paper we present an analytical approach for the static and dynamic analysis of the PAMINSA 1 , a new 4 degrees of freedom parallel manipulator that has been designed at the I.N.S.A. 2 in Rennes. On the base of the developed static model, the input torques due to the static loads are reduced by means of the optimum redistribution of the moving link masses. The analytical dynamic modeling of the PAMINSA by means of Lagrange equations is achieved. A numerical example and a comparison between the suggested analytical model and an ADAMS software simulation are presented. INTRODUCTION The complex nonlinear dynamics appears to be one of the most important parallel manipulator characteristics. Even in the static model, the expression of the torques (or forces) applied to the actuators due to the weight of the platform and links, are nonlinear. Driving torques on parallel manipulators are highly nonlinear functions of the position, velocity and acceleration of the mechanical actuator links. It should be noted that there are algorithms to regulate the problems of non-linearity (static or dynamic) and to ensure an efficient control and an acceptable computation cost. However, the simplification of the manipulator mechanical model is desirable and a mechanical
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