A novel dynamic modelling approach for parallel mechanisms analysis

A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example.