Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification

Utilizing the virtual work principle, this paper presents a method for the dynamic formulation of redundant and non-redundant parallel manipulators for dynamic parameter identification. In modeling, the selection of pivotal point and the computation of inertia force and moment about the pivotal point are more crucial. The selection principle of pivotal point and force transmission on a rigid body are studied. In order to validate the method, the linear form of dynamic models of a 3-DOF parallel manipulator with actuation redundancy and its corresponding non-redundant parallel manipulator are derived.