Dynamic analysis and optimization of a kinematically redundant planar parallel manipulator

Abstract

This paper presents the dynamic model of a kinematically redundant planar parallel manipulator and an optimization method to minimize the actuator torques when the end-effector is subjected to a wrench while following a trajectory. A previous study proposed a static approach to solve the same problem. The objective of the work presented here was to verify if the static assumption was valid. Including the dynamic model in the optimization produced some undesirable oscillations and required the use of a different objective function. It is shown that for the application considered, the static approach provided an acceptable solution.