Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach

摘要

The 6-RSS parallel robot is a parallel manipulator whose mobile platform has 6 DOF. In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on components were defined with D-H method and a kinematics analysis on a single chain was carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. The dynamics model of 6-RSS parallel mechanism is deduced based on the platform, as an example, the driving moment curves for circumferential translation are drawn. The paper's work establishes the basis for dynamics analysis of mechanism with this type.