Dynamic analysis of a parallel kinematic planer

Abstract

Parallel kinematic planer is a new type of PKM. For PKM, dynamic character analysis is important to the mechanism's control. The paper reviews the conceptions of the PKM's dynamic and its analyses method. The paper describes a kind of 4-dof parallel kinematic mechanism with D-H method. By utilizing Newton-Euler approach, the dynamic model of the mechanism is developed, and meanwhile the detailed calculation process is present too. Finally the paper simulates the dynamic model with the Matlab software. The simulation results indicate the mechanism's dynamic character and are same as actual process controlling.