Internal reaction forces in dynamics of a planar parallel manipulator


  • Stefan Staicu
  • Ion Stroe
  • Laurentiu Predescu


dynamics, planar parallel manipulator, internal reaction forces, principle of virtual work, matricial formulation


Three identical legs connecting to the moving platform of a planar parallel manipulator are located in the same vertical plane. Knowing the motion of the platform, we determine the positions, velocities and accelerations of the robot. Using an approach based on the principle of virtual work, compact matrix dynamics equations and graphs of simulation for the input torques of three actuators and internal joint reaction forces are obtained.


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