Dynamics of the 3-PRP planar parallel robot

Abstract

Recursive modelling for the kinematics and dynamics of the 3-PRP planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual work is used in the inverse dynamics problem. Several matrix equations offer iterative expressions and graphs for the powers of three prismatic actuators. The study of the dynamics of the parallel mechanisms is done mainly to solve successfully the control of the motion of such robotic systems.