Compact dynamic models for the tripteron and quadrupteron parallel manipulators

This paper proposes compact dynamic models for the tripteron, a three-degree-of-freedom (DOF) translational parallel manipulator and the quadrupteron, a four-DOF Schonflies-motion parallel manipulator. First, the architecture and kinematics of the tripteron and quadrupteron are briefly recalled. Then, the dynamic models are derived based on the Newton-Euler approach and a judicious sequencing of the application of the equations. It is shown that the dynamic models obtained are computationally efficient and conceptually simple. Therefore, the models can be used to improve the control of robots, especially in applications where high accelerations are required. The general approach proposed for the derivation of the models can be extended to other topologies and geometries of parallel manipulators.