Dynamic Modeling and Adaptive Robust Synchronous Control of Parallel Robotic Manipulator for Industrial Application

Table 1

Structural parameters of the parallel manipulator.

Parameter	Description	Value
	The radius of the moving platform	0.2 m
	The radius of the fixed platform	0.339 m
	The mass of the moving platform	12.75 kg
	The distance between centroid and joint	0.23 m
	The distance between centroid and joint	0.22 m
	The inertia matrix of moving platform
	The mass of the lower sublimb	0.95 kg
	The inertia matrix of the lower sublimb
	The mass of the upper sublimb	1.1 kg
	The inertia matrix of the upper sublimb
	The gravity acceleration	[0, 0, −9.81]^T m/s^2