Dynamic Analysis and Trajectory Tracking Control for a Parallel Manipulator with Joint Friction

Shibiao Chen, Gang Cheng*, Y. Pang

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. The movements and driving forces of the parallel manipulator under the required motion and loading are studied to provide a basis for further research. In this study, the modeling and analysis of inverse kinematics and dynamics for a parallel manipulator with joint friction are derived. In the inverse kinematic model, kinematic relationships between the linear module slider and the moving platform are established, and expressions for the slider are deduced. Subsequently, by analyzing the frictional forces of the artificial hip joint and thrust ball bearing, a rigid body dynamics model of the parallel manipulator with joint friction is established, which is subsequently decomposed into four driving torques associated with the moving platform, joint lever, slider, and screw. Finally, the difference in the kinematic performance between the two moving platforms is analyzed using numerical simulations and experiments, and the accuracy of the established model is verified
Original languageEnglish
Article number6682
Number of pages15
JournalApplied Sciences
Issue number13
Publication statusPublished - 2022


  • parallel manipulator
  • kinematics
  • two moving platforms
  • friction
  • rigid-body dynamics


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