A novel approach for 2-degrees of freedom redundant parallel manipulator dynamics

A novel Udwadia-Kalaba approach for redundant parallel manipulator dynamics is presented in this article. This methodology is explicit and simple which is suitable for systems with holonomic or non-holonomic constraints. As parallel manipulator is a closed-loop mechanism, it is complex to build the dynamical model, especially for redundant parallel manipulators. This article is the first to apply Udwadia-Kalaba equation to the dynamics modeling of the redundant actuation system. In this article, we segment the parallel manipulator into several subsystems and cluster them together due to kinematic constraints. Based on Udwadia-Kalaba approach, we can establish both the direct dynamical model and inverse dynamical model of the 2-degrees of freedom redundant parallel manipulator concisely and explicitly. We use MATLAB to carry on the numerical simulation and the analysis, the results show that the approach is feasible and reliable for the 2-degrees of freedom redundant parallel manipulator.