Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes

Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.