Dynamic Modeling of Vacuum Robots Based on Natural Orthogonal Complement

Based on the natural orthogonal complement, a concise dynamic model of vacuum parallel robots is calculated. Firstly, the solutions of kinematics and inverse kinematics are obtained by establishing an equivalent serial model of the vacuum parallel robots. Then, the dynamic model of vacuum robots is given based on natural orthogonal complement. By simulation，the feasibility and the availability of this method are proved.