Dynamics Modeling and Analysis of a 3T1R Four-Degree-of-Freedom Parallel Robot with Full-Circle Rotation Capability

Dynamics modeling and analysis is the focus of research in the design of parallel robots, and as long as we establish a more accurate dynamics model of the parallel robot, the more we can achieve the optimality of the drive force/torque control of the parallel robot. In this paper, in conjunction with the 3T1R four-degree-of-freedom parallel robot with a full-circle rotation capability that has been proposed at this stage, firstly, the kinematic position analysis of the parallel robot is carried out by using the closed-loop vector method. Secondly, the kinetic and potential energies of each moving member of the parallel robot are solved by the simplified mechanism model, and the dynamics model of the parallel robot is obtained by using the Lagrange equation. Finally, the dynamics numerical simulation of the parallel robot is analyzed by MATLAB software, which lays a good foundation for the dynamics-based control of the parallel robot.