Kinematic and Dynamic Modeling and Base Inertial Parameters Determination of the Quadrupteron Parallel Manipulator

This paper deals with the kinematic analysis, dynamic modeling and base inertial parameter determination of a member of multipteron parallel manipulator family, namely, Quadripteron. First, as a prerequisite for dynamic analysis, kinematic relations are obtained. By using a new geometric approach, the solution of the inverse kinematic problem is made equivalent to solve the problem of determining the intersection of two circles within a plane. Compared to other proposed methods, this approach yields more compact and closed-form solutions. The instantaneous kinematic problem is solved via employing the screw theory. Based on foregoing kinematic relations and the concept of link Jacobian matrices, the dynamic model is formulated by means of the principle of virtual work. Furthermore, in order to obtain a more compact formulation for the dynamic analysis, a reduced dynamic model is obtained by determining the base inertial parameters of the under study manipulators.