Dynamic response investigation of high-speed structural redundant parallel manipulator considering multiple spatial revolute joints with radial and axial clearances

In order to grasp dynamic characteristics of the kind of high-speed structural redundant parallel manipulator in actual work, the dynamic response of a novel high-speed structural redundant parallel manipulator considering multiple spatial revolute joints with radial and axial clearances is studied. Firstly, the dynamic model of the novel high-speed parallel manipulator considering the multiple spatial revolute clearance joints is developed and verified. Then, the influences of different factors on dynamic characteristics of parallel manipulator are explored respectively. This paper contributes to explore the effect of revolute joints clearance on total property of the manipulator.