Dynamic modeling and performance analysis of the 3-PRRU 1T2R parallel manipulator without parasitic motion

This paper investigates the dynamic modeling and performance analysis of the 3-PRRU parallel manipulator; here, P, R and U denote the prismatic, revolute and universal joints, respectively. The studied 3-PRRU parallel manipulator possesses two rotational and one translational degrees of freedom without parasitic motion. For the dynamic modeling, the Newton-Euler formulation with generalized coordinates is employed to establish the system equations of motion for the 3-PRRU parallel manipulator. Then, the dynamic manipulability ellipsoid which provides a quantitative measure of the ability in manipulating the end-effector is adopted to evaluate the dynamic performance of the studied parallel manipulator. In order to demonstrate the feasibility of the proposed modeling and analysis method, numerical simulations are conducted on dynamic response and performance of the studied manipulator. A prototype is built up based on the proposed parallel manipulator. And the presented modeling method can serve the fundamentals for the optimization and control of the prototype in future work.