Dynamic Analysis of A Redundantly Actuated Parallel Manipulator:A Virtual Work Approach

In this paper the dynamic analysis of a parallel manipulator is studied in detail, The manipulator architecture is a simplified planar version adopted from the structure ofLarge Adaptive Reflector (LAR), the Canadian dcsign of next generation giant radio telescopes,T his structure uses a parallel redundant manipulatora ctuatedb y cables.I n this paper firet, the governing dynamic equation of motion of such structure is derived using the principle of virtual work. Next, the dynamic equations of the system are uscd in simulations. In these simulations it is observed that the limb inertial lbrces contributes only VolO of thc dynamical forces required to gencrate a typical trajectory, and moreover, thc total dynamical fDrccs contribute in only 7ol0 of experimentally measured disturbance forces.