Journal of Mechanical Science and Technology

, Volume 33, Issue 6, pp 2893–2902 | Cite as

Dynamics analysis of novel parallel manipulator with one central rotational actuator and four translational actuators

  • Yang Lu
  • Yi LuEmail author
  • Yang Liu
  • Bo Hu
  • Yufeng Gong


A dynamics analysis of a novel parallel manipulator with one central rotational actuator and four translational actuators is conducted. A 3D model of the parallel manipulator is constructed and its characteristics and DoF are analyzed. The kinematics formulae are derived for solving the displacement, velocity and acceleration of the moving links. The dynamics formulae are derived for solving the inertial wrench of the moving links, the dynamic active forces along the active limbs, the dynamic active torque applied on a central active leg, and the dynamic constrained force exerted on the central active leg. A theoretical numerical example is given to solve the kinematics and dynamics solutions, and the theoretical solutions are verified by the simulation mechanism in Matlab. Finally, a reachable workspace of the novel parallel manipulator is constructed using CAD variation geometry.


Parallel manipulator Kinematics Dynamics Workspace 


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The authors are grateful to (1) Major Research Project (91748125) supported by National Natural Science Foundation of China, (2) Project (E2016203203) supported by Hebei Excellent Youth Scholars Foundation, (3) Project (E2017203094) supported by Hebei Distinguished Young Scholar Foundation.


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  1. 1.College of Mechanical EngineeringYanshan UniversityQinhuangdao, HebeiChina
  2. 2.Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company LimitedQinhuangdao, HebeiChina

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