본 연구에서는 평행 사변형 구조를 갖는 매니퓰레이터의 운동에너지와 포텐셜 에너지를 구하고, 운동 에너지 식에서 매니퓰레이터 관성 모멘트 행렬 (manipulator inertia matrix)를 구한다.
An inertia redistribution technique for liberalizing and reducing the complexity of manipulator dynamics with a parallel drive mechanism is presented in this paper. The dynamic design method is based on eliminating nonlinear terms, such as Coriolis, centrifugal and gravity torque in the kinetic and the potential energy of a manipulator. A set of design criteria regarding the inertia properties of links is derived. The resulting manipulator dynamics can be greatly simplified for each robot. This paper particularly presents that it is possible to completely linearize the manipulator dynamics with a parallel drive mechanism.
