Computation of Dynamic Joint Reaction Forces of PKM and its Use for Load-Minimizing Trajectory Planning
D. Gnad,H. Gattringer,A. Müller,W. Höbarth,R. Riepl,L. Messner,D. Gnad,H. Gattringer,A. Müller,W. Höbarth,R. Riepl,L. Messner
Parallel kinematics machines (PKM) operate with maximal acceleration being designed for highly dynamic manipulation tasks. This leads to extreme loads of the joints, which is usually not accounted for in the motion planning. In this paper an extended inverse dynamics method is introduced, which allows computing the joint reaction forces along with the actuation torques, and provides a basis for ti...
