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The article analyzes the dynamics of a five-degree-of-freedom (5-DOF) parallel-serial manipulator with three translational and two rotational DOFs. The manipulator includes a 3-DOF 1-PU/2-PSS parallel and a 2-DOF PP serial mechanism (P, U, and S indicate prismatic, universal, and spherical joints), where all prismatic joints are actuated. Following Kane’s method, we derive the manipulator dynamic model, considering the dynamics of both serial and parallel mechanisms. The set of generalized speeds includes three speeds in active and two speeds in passive joints. To illustrate the developed techniques, we solve the inverse dynamic problem for a spiral-like end-effector trajectory.

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Dynamic Analysis of a 5-DOF Parallel-Serial Manipulator Using Kane’s Method

  • 会议论文

  • 发表日期：

    2025年

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  • Anton Antonov

摘要

The article analyzes the dynamics of a five-degree-of-freedom (5-DOF) parallel-serial manipulator with three translational and two rotational DOFs. The manipulator includes a 3-DOF 1-PU/2-PSS parallel and a 2-DOF PP serial mechanism (P, U, and S indicate prismatic, universal, and spherical joints), where all prismatic joints are actuated. Following Kane’s method, we derive the manipulator dynamic model, considering the dynamics of both serial and parallel mechanisms. The set of generalized speeds includes three speeds in active and two speeds in passive joints. To illustrate the developed techniques, we solve the inverse dynamic problem for a spiral-like end-effector trajectory.