Dynamics of parallel mechanism with direct compliance control

Direct Compliance Control is an effective force control method for robot, especially for parallel mechanism robot. However, structural complexity of parallel mechanism and redundant actuation the DCC requires make establishment of dynamic model used for robot control very difficulty. In this paper, based on Influence Coefficient Method dynamics of parallel mechanism is deeply studied. The parallel mechanism without DCC is first investigated. Then is mechanism with DCC. The derived dynamic equations for both situations are not only easily established, but also simply expressed with mechanism's influence coefficient matrices. Therefore the dynamic algorithm can be easily realized on computer.