Kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators

The kinematic analysis, the dynamic analysis and the static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators are presented in this thesis.

First, the inverse kinematics of each mechanism is computed and a new general algorithm is proposed to locate the boundaries of the workspace of the mechanism. Two approaches are used to derive the velocity equations of the mechanisms. One of them is a new approach. The singularity loci is then determined using the velocity equations. The kinematic optimization of mechanisms with reduced degree of freedom is also discussed.

A new approach based on the principle of virtual work for the dynamic analysis of parallel mechanisms or manipulators is proposed in the thesis. The Newton-Euler approach is also used for the dynamic analysis of parallel mechanisms or manipulators. Each approach has its own advantages and is suitable for different usage.

Finally, the static balancing of parallel mechanisms or manipulators is studied in this thesis. Two approaches are used to derive the balancing conditions of the mechanisms.