Dynamic performance analysis of parallel manipulators based on two-inertia-system

Load inertia time-varying is one of the main dynamic characteristics of parallel manipulators in joint space, which would heavily affect the performance of the mechatronic system, especially during the acceleration and deceleration phases. In this paper, a complete dynamic performance analysis method is presented by mainly considering the load inertia time-varying characteristic and using two-inertia-system. First, the control system of a parallel manipulator in joint space is established based on the two-inertia-system; next, the control parameters are designed by selecting appropriate damping ratio, and the variations of damping ratio and natural angular frequency are used to analyze the dynamic performance changing of parallel manipulators, moreover, the analysis step flow is also given; finally, by taking a 3-PRS parallel manipulator as an object of study, a series of simulations is given, including step response and trajectory tracking of angular velocity and displacement, and the results show that compared with the traditional method, the proposed method could be used to reflect the change of the dynamic performance caused by the load inertia time-varying characteristic of parallel manipulators more efficiently. (c) 2019 Elsevier Ltd. All rights reserved.