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Kinematics and Dynamics for a 4-DOF Parallel Robot

Conference Paper · August 2021

DOI: 10.1109/ICSSE52999.2021.9538416

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 Kinematics and Dynamics for a 4-DOF Parallel
Robot
Kien Cuong Dinh Ngoc Sang Dao Hai Dang Le
Robotic and Intelligent Control Lab Robotic and Intelligent Control Lab Robotic and Intelligent Control Lab
Faculty of Electrical and Electronics Faculty of Electrical and Electronics Faculty of Electrical and Electronics
Engineering Engineering Engineering
Ho Chi Minh city University of Ho Chi Minh city University of Ho Chi Minh city University of
Technology and Education Technology and Education Technology and Education
Ho Chi Minh, Viet Nam Ho Chi Minh, Viet Nam Ho Chi Minh, Viet Nam
dkcuong1202@gmail.com daongocsang555@gmail.com danglh.work@gmail.com

Hoang Lam Le Tu Duong Thi Cam Duc Thien Tran

Faculty of Electrical and Electronics
Engineering
Ho Chi Minh city University of
Technology and Education
Ho Chi Minh, Viet Nam
lamlh@hcmute.edu.vn
Department of Electrical and Computer Robotic and Intelligent Control Lab
Science Faculty of Electrical and Electronics
School of Engineering Engineering
The Catholic University of America Ho Chi Minh city University of
(CUA) Technology and Education
Ho Chi Minh, Viet Nam Ho Chi Minh, Viet Nam
tu.duong@hcmute.edu.vn thientd@hcmute.edu.vn

Abstract—This paper presents a research about kinematics,
dynamics for a robotic closed-chain mechanism. The mechanic-
al structure, kinematics, and Lagrange formulation for a
dynamic affair of the parallel robot 4-DOF are described. A
MATLAB simulation model of the robot is built and utilized for
each stage of identification. Besides, comparing the output
response with the input signal will support in determining the
error factor of the parallel robot. Results show that the
movement equations of the robot are really complex and have
certain constraints in the calculation; therefore, a combination
of different method is implemented for the parallel robot
algorithm.
Keywords— Quattro parallel robot, parallel robot 4-DOF,
inverse kinematics, forward kinematics, dynamic model.
I. INTRODUCTION
Robotic manipulators are mechanical structures that are
used in place of humans to handle unsafe or repetitive tasks
with high accuracy. They are becoming more common in a
wide range of sectors and applications. The most common
distinguishing characteristic of the robot is the mechanical
structure, so they are classified as serial and parallel
manipulators. A large workspace with respect to the size of
the serial manipulator and the floor space it occupies are its
main advantages [16], [17]. Contrary to this factor, these
robots have the low stiffness by an open kinematic structure,
accumulated error from link to link, which directly affects to
the lack of stiffness and the accuracy. To make good this
defect, parallel robots have been proposed. With the excellent
performance, it has an ideal ratio of moving mass to payload,
which results in maximum dynamics and extremely high
accuracy, extreme rigidity, great energy efficiency, and a
compact design. Because of these, parallel manipulators
become so important that many different applications need
suitable properties, such as delta robot [1], 3-DOF single-loop
parallel leg mechanisms [2] and planar parallel robot [3].
For the purpose of controlling parallel robotic
manipulators in regulation tasks, some common robotic
control strategies are based on inverse kinematic solution [4],
PD control [5], trajectory control [6], the optimal dynamic
motion parameters [7] and especially vibration reduction [8],
[9]. Almost modern countries have employed and developed
their parallel robotic techniques for mass production, or
astronomy assembly and strengthening. Above of them is
required the fast respond and flexible application so that the
kinematics or dynamic problem is necessary to design and
improve the quality control of the robot. It is solved by
numerical or geometry methods and numerical simulation
methods based on models. They have reduced the frame
vibration of Delta robot by an acceleration profile
optimization approach [7], [8], computed the kinematic
performance evaluation [1], [10], analyzed the workspace of
Delta robot depend on forward kinematics solution [11],
enhanced energy-efficient approach for 3D printing [12],
planned out the perfect golf swing by the closed-chain
mechanism . In Viet Nam, research topics are generally
focused on kinetic problems, establishing motion equations
and presenting solutions to these equations of motion.
Control problems are less interested in research. This issue
has just considered the accuracy of the robot, not the error
signal problem of robot driving which can lead to the
vibration occurred by the lack of precision in mechanical
construction.
Although the complex dynamic structure is difficult to
design and control parallel robot, it brings an interested
feature that is presented above. This paper is going to
research kinematics and dynamics which are extremely
important to employ its advantage. They are also a scientific
problem and a practical significance. Depending on the
analysis of planar parallel robot, parallel robot 2-DOF and
Delta robot 3-DOF, a 4-DOF parallel robot is proposed.
Adding a degree of freedom is more favorable driving than
others above. Beside- s, this model can increase rigidity and
workspace so that the structure of parallel robot is built based
on Inventor. Geometric parameters for the parallel robot are
employed to compute forward and inverse kinematic. The
forward kinematic solution will be solved the workspace for
trajectory planning simulation and the inverse kinematic
solution is applied for robot control. Then dynamics of the
robot is computed to determine velocity and acceleration as
well as the torque of transmission mechanism. Finally,
simulation with differential equations is presented by
MATLAB/Simulink.
This paper is organized as follows. In Section II, a brief
description of forward kinematic and the workspace of

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

parallel robot is presented. Inverse kinematic analysis for  x2   0 
  
J   y2    ra  L2 c12  rb 
controlling is detailed in Section III. Section IV is dedicated '
to dynamics analyses to improve speed, accuracy, and high 2 (4)
acceleration for the development in the future. The main  z2   L2 s12  d a 
results from simulation and the combination of output
respond at each stage are shown in section V. A discussion
about the most important conclusion remarks and  x3   ra  L2 c13  rb 
development orientation is proposed in Section VI. J   y3   
'
3 0 
 (5)
 z3   L2 s13  d a 
II. FORWARD KINEMATICS
Here, the position of the point must be determined and the
four angles  i are given. Based on the geometric model of the  x4   0 
robot is designed, each arm can be dealt separately which is J 4'   y4     ra  L2 c14  rb  (6)
showed Fig. 1.  z4   L2 s14  d a 

Fig. 1. Robot geometric model

Fig. 2. Topside view
The joint position is given by  i . The geometric
The constant equations of the robot are obtained by
parameters of the robot are: OOi  ra , Oi Fi  d a , considering the forearms as rigid entities with a fixed length
Fi J i  L2 , J i Bi  L1 , Bi A  rb , (i  1, 2,3, 4) . and given by:

( x  x1 )  ( y  y1 )  ( z  z1 )  L1
2 2 2 2
First, examine the surface consisting of all possible
positions A of the sub-index i with  i is given. This is the 
( x  x2 )  ( y  y2 )  ( z  z2 )  L1
2 2 2 2

spherical surface J i' with a distance from J i is rb . Using of  (7)

( x  x3 )  ( y  y3 )  ( z  z3 )  L1
2 2 2 2

the vector translation of y -axis displacement, the vector ( x  x ) 2  ( y  y ) 2  ( z  z ) 2  L2

equation for the robot is given by:  4 4 4 1

This equation has been solved and two solutions

OJ i'  OFi  Fi J i  J i J i' (1) described the two intersection points of the three spheres.
The end-effector can be express as: Then the solution has been chosen in the robots working area
with a global reference system. As a result, the EE is showed
x as:
A   y  (2) x  a1 z  b1 (8)
 z  y  a2 z  b2 (9)
Sub-index i (i  1, 2,3, 4) pointed out the arm number. The coordinate z can be expressed as:
Each arm is rotated an angle  i (0 ,90 ,180 , 270 ) is
(a12  a22  1) z 2  2(aa (b1  x1 )  a2b2  z1 ) z 
presented in Fig. 2 (10)
((b1  x1 ) 2  b22  z12  L12 )  0
This point is the common point of four arms created by
z z x 2  z32  x12  z12 z z
the spheroid J i' with the fixed radius J i' A (i  1, 2,3, 4) . So where a1  1 3 , b1  3 , a2  2 4 and
x3  x1 2( x3  x1 ) y4  y2
the coordinate of J1' , J 2' , J 3' and J 4' is presented as follows:
y42  z42  y22  z22
b2  .
 x1   ra  L2 c11  rb  2(y 4  y2 )
J   y1   
'
1 0 
 (3) The robot workspace can be computed by different
 z1   L2 s11  d a  procedures. Normally, the forward kinematics solution is
employed at a glance:
 With:

XA   L2 c11  L1 s31c (11   21 )  ra  rb 

 Y   R( z ,  ).  L1c 31  (12)
 A j  
 Z A   L2 s11  L1 s31 s (11   21 )  d a 
, j  1, 2,3, 4

where R ( z , ) is the rotation matrix of z axis.

Equation (12) can be written for the active joint 1i as:

ai c1i  bi s1i  m  ci , i  1, 2,3, 4 (13)

With,
(a) Robot Workspace Mapz a1  2 L2 ( X A  ra  rb ) , a2  2 L2 (ra  rb  YA )

a3  2 L2 ( X A  ra  rb ) , a4  2 L2 (YA  ra  rb )

b1  2 L2 ( Z A  d a ) , b2  2 L2 ( d a  Z A )

b3  2 L2 (d a  Z A ) , b4  2 L2 ( Z A  d a )

c1  2 X A (ra  rb )  2 Z A d a , c2  2YA (ra  rb )  2 Z A d a

c3  2 X A (ra  rb )  2 Z A d a , c4  2YA (ra  rb )  2 Z A d a

m  X A2  YA2  Z A2  L22  L12  (ra  rb ) 2  d a2

Equation generate a possible angles for this points:
(b) Projection on X-Y Plane
Fig. 3. Workspace of the robot in (a) and (b)  ci 
1i  Sin 1   i  (14)
Fig. 3 shows the workspace that the robot can reach, these  a 2  b2 
 i i 
results will be the prerequisites for the construction of motion
trajectories and control methods for robot optimization and a 
With i  tan 1  i 
control.  bi 
III. INVERSE KINEMATICS The calculation of four angles 1i , the inverse kinematic
In a given position of A point (EE), the geometric from has been solved. Furthermore, angle directions  2i and  3i are
Fig. 1, Inverse kinematics finds the input angles (  i ) for the
also computed in this case with i  1, 2,3, 4 .
robot.
IV. DYNAMICS MODELING
In this paper, the dynamics of parallel robot 4-DOF are
analyzed. The coordinate frame, lengths of the link and the
joint angles of the closed-chain manipulator are shown in Fig.
1, 11 , 12 , 13 and 14 are the actuated joints.
The Lagrange equations are written with regard to the set
of redundant coordinates which is derived by considering the
total kinetic energy, T , and the total potential energy, V , of
the robot. As a result, the formulation necessitates a set of
constraint equations generated from a mechanism's
Fig. 4. Model projection from Oxz to Oyz Plane kinematics. These constraint equations and derivatives are
Fig. 4 shows the projection of the robot from x  z and connected to the equations of motion to generate a set of
y  z plane. Considering the coordinate system at the center equations with the same number of unknowns. So the
Lagrange equations can be presented as:
O of the fixed base, moving it to the rotating joint Fi with an
angle  j (0 ,90 ,180 , 270 ) and the projection of point A d  L L 4
    Q j   i Aij (15)
located at each arm, system of equations for the dt  q j
 q j i 1
corresponding rotation angle can be shown as: where j  1, 2,3, 4 and the i th constraint function is denoted
XA  by f i , the number of constraint functions is k , n stands for
A  R( z ,  j )   YA  (11) the redundant coordinates, i is the Lagrange multiplier, and
 Z A 
 f i The actuator torques may be computed from the four
Aij  . The Lagrange equations will be used for the 4- equations that remain after the Lagrange multipliers have
q j
been determined. The second set of equations is specifically
DOF parallel manipulator by including of three redundant written as follows:
coordinates x, y and z . Therefore, based on [13], [14], the
generalized coordinate vector is showed as: d  L  L
1     1 A15
dt  11  11
q j   x, y, z ,  , 11 , 12 , 13 , 14 
T
(16)
d  L  L
Equations (15) represent a system of eight equations with 2     2 A26
dt  12  12
eight variables, where the eight variables are i for (19)
i  1, 2,3, 4 and the four actuator torques, Q j for j  5, 6, 7,8 d  L  L
3     3 A37
. The external generalized forces, Q j for j  1, 2,3, 4 , are dt  13  13
zero since there is no externally applied force at the movable d  L  L
4     4 A48
dt  14  14
ring and joints C i are passive.

where  i is torque for the i th

actuator arm.
To apply (18) and (19), For the Lagrange function L in
[14], [15], an expression must be created. The Lagrange
function is defined as the difference between the kinetic
energy of the system, T , and its potential energy, V . As a
result, the total kinetic energy of the robot is:
4
T  Tc   Tai  Tbi  (20)
Fig. 5. Rotating angle of the fourth DOF at the End-Effector i 1
where, the kinetic energy of the moving platform is indicated
h h 
T by Tc and Tai is the kinetic energy of the arm and the rotor i ,
where A   sin  cos  z .
2 2  and Tbi is the kinetic energy of the forearm i . In particular

In (16),  is the angular deflection of the End-Effector 1

Tai  ma I t12i ,
pose which is shown in Fig. 5. The fourth DOF is enabled by 2
1  L21i sin 1i   L13i sin 3i 
2 2
rotating the moving plate parallelogram. Besides that, the
range of this motion ( 45 ) depends on the option simplifies Tbi  mb    
2  2   2 
design, fabrication, and assembly, but it may not be ideal in 
(21)
 L  cos 1i  
terms of dynamic behavior, as will be demonstrated below. 2

This approach necessitates the use of four constraint   2 1i  

 2  
equations, f i for i  1, 2,3, 4 which are expressed in terms of
generalized coordinates. These are obtained from the fact that 1
Tc  mc ( x 2  y 2  z 2 )
the distance between joints A and J i' is always equal to the 2
forearm's length L1 . It can be written as: where the masses of the arm, forearm, and mobile platform
are denoted by ma , mb , mc , respectively. I t is the momentum
fi  Bi J i  L12  0
2
of inertia of arm and motor, the rotation angle of the system
(17) with respect to the absolute reference frame is specified  j .
 x  xi   ( y  yi ) 2  ( z  zi ) 2  L12  0
2

With i  1, 2,3, 4 Assuming that the gravitational acceleration ( g ) is

pointing in the z direction, the total potential energy of the
The desired trajectory for a given position  x, y , z  , from
robot in relationship to x  y on the stationary platform is:
the equations of motion given by (15) one can easily obtain
the required multipliers i , with i  1, 2,3, 4 . 4
V  Vc   (Vai  Vbi ), (22)
i 1
d  L  L 4

    i Ai1
dt  x  x i 1 where, Vc is the moving platform's potential energy, Vai is
d  L  L 4 the potential energy of the arm i , and Vbi is the potential
    i Ai 2
dt  y  y i 1 energy of the forearm i . Specifically,
(18)
d  L  L 4
1
    i Ai 3 Vai   ma gL2 s1i ,
dt  z  z i 1 2
(23)
d  L  L 4 1  z  d a  L2 s1i 
    i Ai 4 Vbi   mb g  
dt     i 1 2  2 
 1 The trajectory of the robot in the first case is shown in Fig.
Vc   mc gz Oxy
2 9 with the coordinate . The time-domain response of the
x-axis, y-axis, and z-axis is shown in Fig. 10.
V. SIMULATION RESULT
A MATLAB Simulink simulation model is used to
evaluate the kinematics model of the robot. Firstly, based on
the model designed by Inventor and for the initial actuated
joints to be zero as shown in Fig. 6, the results of the transient
inverse kinematics are considered to be correct.

Fig. 10. Trajectory signal for circle with R=50 mm

These signals of above are inputted to the inverse
kinematic block. It calculates the rotation angle of the robot
and the result is shown in Fig. 11. Next, these results are fed
(a) (b) into the forward kinematic block to calculate the End-
Fig. 6. Robot position (a) with reference input (b) for actuated
Effector of the parallel robot.
joints at 0 degree

Secondly, to verify, the actuated joints change an angle of

60 as shown in Fig. 7 and give accurate results.

Fig. 11. Actuated joints signal for circle with R=50 mm

(a) (b) Finally, to evaluate the accuracy of the kinematic equation

calculation, the combination of the input signal from the
Fig. 7. Robot position (a) with reference input (b) for actuated
joints at 60 degree inverse kinematics and the output signal from the forward
kinematics is expressed in Fig. 12 below.
Next, the results of the inverse kinematics and the forward
kinematics will be compared based on the placing signals and
position errors caused by the binding coefficients as
mentioned in section IV which is shown in Fig. 8.
From the above results, in order to better check the
kinematic errors, based on the workspace of Fig. 3, the
circular trajectory is built on X  Y plane at different heights.
Considering to case 1: circle orbit with radius R  50 (mm)
and height z  500 (mm) .
Fig. 12. Position error signal for circle with R=50 mm

Case 2: circular orbit with radius R  25(mm) and height

z  500 (mm) . In the other parameters, the reference signal
in the time domain is also present in Fig. 13.
Fig. 8. Simulation diagram

Fig. 13. Trajectory signal for circle with R=25 mm

Fig. 9. Circle planning with R=50 The output response from inverse kinematic illustrates the
changing angle in the time domain which is also the input
signal into the forward kinematic, Fig. 14.

Fig. 14. Actuated joints signal for circle with R=25 mm
As a result, the accuracy of the kinematic equation is again
compared to evaluate the input signal and output response
from the calculation block which is presented in Fig. 15.
Fig. 15. Position error signal for circle with R=25 mm
From the error signals of Fig. 12 and Fig. 15, the closer to
the outside of the working area, the error increases gradually
but is very small and does not affect the calculation results as
well as the control. Therefore, the kinematic results presented
above are correct.
Remark 1: Because of the page limitation, the
experimental results can be found in Youtube via link:
https://www.youtube.com/watch?v=wUkqQWd6lLQ
VI. CONCLUSIONS
In this paper, the kinetic and dynamic results of a parallel
robot with 4 DOF have been presented. By combining vector
and trigonometric methods, the equation showing the
dependence between the End-Effector and the theta angle of
the motor has been given. Calculating inverse kinematics
brings practical applications to closed-loop robot
mechanisms such as pick and place, component assembly,
etc. Furthermore, the forward kinematics results help to find
and improve the working area which is believed to be the
weakness of closed-loop robot structure compared to serial
robot structure. To demonstrate the results of kinematic
calculations, a simulation model of the robot's motion was
built on MATLAB/Simulink. By comparing the output
response with the input signal will help determine the error in
the calculation. In the future, the results of kinematics and
dynamics calculations as well as the above size data can be
used to build a synchronous controller for a 4-degree-of-
freedom parallel robot model with accuracy and high speed
application in production as well as daily life.
ACKNOWLEDGMENT
This research was implemented at Robotics and
Intelligent Control Laboratory (RIC Lab), Faculty of
Electrical and Electronics Engineering, Ho Chi Minh City
University of Technology and Education, Vietnam. We also
gratefully acknowledge the support of RIC Lab's members.
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