Dynamic analysis of a Triglide parallel robot

摘要

This paper presents the analytical dynamic modeling of a Triglide parallel robot and numerical simulation using Maple and Adams software. The Lagrange with multipliers method was successfully applied to develop the closed-form dynamic model using the Maple software. Next, an equivalent dynamic virtual model of the Triglide parallel robot was developed and simulated in ADAMS program on different task. The simulation of the theoretical dynamic models (closed-form model) and ADAMS numerical approach confirm the validity of the analytical dynamic model.