Dynamic modelling of a 3-DOF parallel manipulator using recursive matrix relations

In this paper, a simple and convenient method - Recursive Matrix method - is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example - a 3-DOF parallel manipulator with prismatic actuators - is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With the inverse kinematic solutions, the inverse dynamic problem is solved with the virtual powers method. Matrix relations and graphs of the acting forces and powers for all actuators are analysis and determined. It is shown that the proposed method is an effective mean for kinematic and dynamic modelling of parallel mechanisms.