Inverse dynamics of wire-actuated parallel manipulators with a constraining linkage

The inverse dynamics of wire-actuated parallel manipulators with a constraining linkage and redundancy in actuation is investigated. To resolve the problem of having infinite solutions for inverse dynamics, a wire deactivation methodology based on Lagrangian equations is proposed and two approaches are developed to detect the counteracting wires. The methodology results in lower actuator forces/torques by reducing the counteracting wire tensions. The robustness of the methodology in avoiding negative wire tensions is verified in the inverse dynamic simulation of an example manipulator. (c) 2006 Elsevier Ltd. All rights reserved.