A COMPARATIVE STUDY OF SOLUTION TECHNIQUES FOR PROBLEMS OF INVERSE DYNAMICS BASED ON DELTA SPATIAL PARALLEL ROBOT

Abstract

In aspect of mechanics, parallel robots are a multi-body system with a close
loop structure; thus, their dynamics equations typically use redundant
generalized coordinates. In addition, The inverse dynamics problem is complex
but scientifically significant because parallel robots have certain advantages over
serial robots. This research proposes two methods to solve the inverse dynamics
problem of parallel robots. The next step is simulating this problem with a specific
spatial Delta parallel robot data set. These results are compared with another
published work by virtual work method. Deeply researching and calculating the
inverse dynamics problem is meaningful in establishing control laws and
improving the working quality of parallel robots.