Dynamic Performance Influencing Factors of the Parallel Mechanism

Abstract

The acceleration performance function and the dynamic performance influencing factors of a 2-P(Pa) planar parallel mechanism are presented in this paper. By means of the principle of virtual work, the inverse dynamic model and acceleration performance function of the mechanism are setup. Based on the factors in the acceleration performance function, such as the inertia, velocity, gravity and external force, the effect on the acceleration performance of the parallel mechanism is investigated.