Using virtual work theory and CAD functionalities for solving active force and passive force of spatial parallel manipulators

A novel approach by using virtual work theory and CAD functionalities is proposed for solving active and passive forces of spatial parallel manipulators with 3–6 active limbs. Some common math foundations, computer variation geometry techniques, and definitions are presented for designing F/T (force/torque) simulation mechanism. Several novel spatial parallel manipulators with 3–5 active limbs and their F/T simulation mechanisms are synthesized. When modify the driving dimensions of active limbs, the configurations of the F/T simulation mechanisms are varied correspondingly, and the active forces and passive force are solved and visualized dynamically.