LANGRAGE’S DYNAMIC EQUATION OF SIX-DOF PARALLEL MULTI-LOOP ROBOT MANIPULATOR

Dynamics of Six-DOF parallel robot manipulator is studied in this paper. A general inertia tensor and agenerai inertia power modeling matrix depending only on mass distribution and system geometry are derived fromthe first-order and the second-order influence coefficient matrices. The Lagrange's dynamic equation and control-ling equation of motion of the multi-loop complex system are established in simple explicit expressions. Finally, anumerical example is given.