Kinematic and Dynamic Analysis of a New Cylindrical 3-DOF Parallel Manipulator

This article discusses the kinematic and dynamic modeling of a new cylindrical parallel manipulator with two translational degrees of freedom and one rotational degree of freedom. The model of dynamics is based on the Lagrange approach. Six generalized coordinates and three Lagrange multipliers are introduced in the modeling process, and they are released by the corresponding constraint functions. A case is presented to illustrate the advantages of this mechanism. The simulation results indicate that the actuator torques of this parallel manipulator possess of good properties. This model will be useful to improve the design of the mechanical components and the control algorithm of this manipulator.