DYNAMICS ANALYSIS OF PLANAR FIVE-BAR PARALLEL ROBOT

This paper presented the dynamics equations of planar five-bar parallel robot based on the Lagrange equation,and obtained expression of driving torques.The equivalent inertia,coupling inertia and driving torques of the active joints of mechanism were analyzed through the existing model.The results show that,for a given motion,the configuration has a significant influence on the equivalent inertia,coupling inertia and driving torques.