Applications of the Modular Modelling Methodology to the Dynamic Analysis of Parallel Manipulators with Common Subsystems

Abstract

Parallel manipulators offer advantages of high speed, precision and rigidity in comparison to serial robots, and these prospective benefits have attracted the attention of many researchers. One of the challenges related to the development of this class of manipulators is the derivation of the dynamic model. In fact, dynamic formulation used in parallel mechanisms is usually complex because of several independent kinematic chains which connect the end-effector to the base. The Modular Modelling Methodology (MMM) offers some advantages for modelling complex mechanical systems in comparison to the traditional ones. Basically MMM takes available models of subsystems as a starting point. Such models could have been derived from different types of formulations, being the result of prior investigations, testing and even validations. The purpose of this work is to highlight the benefits of MMM from the perspective of the user/analyst by applying the methodology to parallel mechanisms with similar topologies. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.