Dynamics of a three-degrees-of-freedom spatial parallel manipulator

Abstract

Recursive matrix relations for the kinematics and dynamics of a spatial parallel manipulator, which has two translation degrees of freedom and one rotational degree of freedom, are established in this paper. Supposing that the position and the motion of the mobile platform are known, an inverse dynamic formulation is presented. Finally, some matrix relations and graphs for the forces of the three actuators are determined. Comparison of simulation results in ADAMS with the formulation by MATLAB program shows the validity of the new matrix approach.