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This paper addresses the dynamic modeling of a novel 3-PSP 3-DOF spatial parallel manipulator, which is used as a tool head for high speed machining of structural aircraft components. Hereby, the dynamic analysis of the manipulator is very important. Based on the kinematic analysis, the dynamic equation without considering parasitic motions is derived by using the Newton-Euler approach. Since the...
This paper addresses the issue of performance evaluation of parallel manipulators. In the analysis and design process of parallel manipulators, the performance evaluation is the most important problem. The developed index will be fundamentally involved in the process, especially in that of optimum design. Although parallel manipulators have been extensively studied for more than twenty years, unfortunately,...
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