A mixed elastic and rigid-body dynamic model of an actuation redundant parallel robot with high-reduction gears

Abstract

A 2 DOF parallel redundant manipulator (PA-R-MA) is introduced. The manipulator is redundantly actuated by three servomotors with high-reduction gears. It is equipped with structurally integrated torque sensors. An elastic model of the null-space dynamics is derived needed for feedback control of redundant torques. A cartesian rigid-body dynamic model of the motion DOF is shown to be decoupled from the elastic model. Experimental results show the validity of the models.