Comparison of Dynamic Modeling Techniques in Parallel Manipulators

In this paper some dynamic modeling methods and their applications in the field of parallel manipulators are reviewed and discussed. Investigation process is mainly based on the comparison of Lagrangian multiplier principle, Newton-Euler formulation and Bond-Graph method. A case study is also considered which to some extent is a representative of the characteristics of the methods. This study shows that the Bond-Graph has quite priorities in compare with other methods.

Keywords:

Dynamic Modeling , Parallel manipulators , Bond-graph method , Education.