Dynamic Modeling and Identification of a Complex-Structured Parallel Robot

In this paper a new strategy for dynamic modeling and parameter identification of complex parallel robots including parallel crank mechanisms is presented. Based on a model reduction strategy motivated by the structure of the parallel robot SpiderMill, kinematics and dynamics are derived in a compact form applying the modified Denavit Hartenberg method and the Newton-Euler approach. The obtained parameter-linear inverse dynamical description is reduced to a parameter-minimal form applying only an analytical reduction method. The rigid body parameters of the inverse dynamic model are identified by using optimized trajectories and linear estimators. Due to exclusively analytical reduction a physical interpretation of the parameters is possible. Through the whole modeling and verification process verified MSC.ADAMS models and Solid Edge models of the demonstrator SpiderMill are used.