Inverse dynamics of a translation-rotation hybrid parallel robot


  • Stefan Staicu
  • Andrei Craifaleanu


connectivity relations, hybrid parallel robot, dynamics, kinematics


Matrix relations for dynamics analysis of a spatial two-module hybrid parallel manipulator are established in this paper. Knowing the relative motions of two serially connected moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations of parallel robots dynamics. Finally, compact results and graphs of simulation for the input forces and powers of six actuators are obtained.


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