Dynamic Modeling and Trajectory Planning of a 4-DOF Parallel Manipulator

This article focuses on the dynamic modeling problem of a four degree of freedom parallel robot. Starting from the introduction of the robot structure, it conducts in-depth kinematic analysis and establishes a complete model covering position, velocity, and acceleration. Based on the polynomial motion law and combined with the principle of virtual work, a complete rigid body dynamics model of the system was studied and constructed. Through simulation verification, the model demonstrates precise control capability for mechanism motion, providing a solid theoretical basis for parallel robots in the fields of vibration control and optimization design, and has significant engineering application value.