Dynamic Analysis and Trajectory Tracking Control for a Parallel Manipulator with Joint Friction

To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. The movements and driving forces of the parallel manipulator under the required motion and loading...

Integrated Stiffness Analysis of Redundant Parallel Manipulator Based on Finite Element Method

An integrated stiffness model is established for a Planar Parallel Manipulator (PPM) with actuation redundancy based on Finite Element Method (FEM), and the static stiffness, dynamitic stiffness and moving stiffness of the PPM are analyzed according to the integrated stiffness model. Firstly, a dynamic model of flexible plane beam element is...