Kinematics and Dynamics for a 4-DOF Parallel Robot

Abstract

This paper presents a research about kinematics, dynamics for a robotic closed-chain mechanism. The mechanical structure, kinematics, and Lagrange formulation for a dynamic affair of the parallel robot 4-DOF are described. A MATLAB simulation model of the robot is built and utilized for each stage of identification. Besides, comparing the output response with the input signal will support in determining the error factor of the parallel robot. Results show that the movement equations of the robot are really complex and have certain constraints in the calculation; therefore, a combination of different method is implemented for the parallel robot algorithm.