Control-orientated dynamic modeling of forging manipulators with multi-closed kinematic chains
Control-orientated dynamic modeling was proposed for multi-closed-loop manipulators. The reduced system and screw theory were combined for the manipulator modeling. Suitable selection of generalized coordinates can simplify the dynamics calculation. A full dynamics of the main motion mechanisms in a forging manipulator is modeled. The proposed method was validated by simulations and experiments.
dynamics forging manipulator screw theory multi-closed-loop mechanism parallel manipulator