Simplified approach for dynamics estimation of a minor mobility parallel robot

This paper presents the identification of an approximated polynomial model for the dynamics of a parallel kinematics machine. The case study of a specific translational Cartesian manipulator is faced. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the actual behaviour of the robot prototype. The seek of the coefficients of the interpolating polynomials has been constrained taking advantage of robot peculiarities, such as symmetry and intrinsic properties of multibody systems dynamics. The effectiveness of the proposed simplification is then verified by comparison with robot behaviour.