Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work

Song Lu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


This paper presents a straightforward and systematical methodology for conducting the inverse dynamic analysis of a 3-prismatic-universal-universal (PUU) parallel kinematic manipulator (PKM) through employing the principle of virtual work. The proposed 3-PUU PKM possesses three translational degree-of-freedom (DOF). The position, velocity and acceleration of joints are solved via the inverse kinematic analysis, the link Jacobian matrices which map the velocity of the moving platform into the velocity and angular velocity of struts are derived in the fixed coordinate system. Based on the d'Alembert's form of the principle of virtual work, the applied generalized forces of the whole mechanical system are divided into the applied forces of moving platform, struts, sliders, and motor-coupling-leadscrew, respectively. The joint actuated torques are obtained through eliminating the virtual displacement in the dynamic equations. Furthermore, the inertial term, centrifugal and Coriolis term, and gravitational term of the total joint torque are determined. Simulation for a conical spiral trajectory demonstrates that the total torque is dominated by the inertial term.
Original languageEnglish
Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Number of pages6
ISBN (Electronic)9781467391078
Publication statusPublished - 25 Aug 2015
Externally publishedYes
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - BEXCO, Busan, Korea, Republic of
Duration: 7 Jul 201511 Jul 2015


ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Country/TerritoryKorea, Republic of


  • dynamic analysis
  • Parallel kinematic manipulator
  • virtual work

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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