Inverse dynamics analysis of a 6-PSS parallel manipulator

Weiyuan Xu, Yangmin Li, Song Lu, Xiao Xiao

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


In this paper, a new six degrees of freedom (6-DOF) parallel manipulator with adjustable actuators is proposed. The kinematic model is firstly established and the kinematic analysis is performed afterward. Then the equations of motion are developed based on the concept of link Jacobian matrices. Finally, the principle of virtual work is applied to analyze the dynamics of this 6-PSS parallel manipulator. This methodology can be used on other types of parallel manipulators not only for 6-DOF but also with less than 6-DOF. To solve the inverse dynamics of the manipulator, a computational algorithm is developed and two trajectories of the moving platform are simulated.
Original languageEnglish
Pages (from-to)12-23
Number of pages12
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publication statusPublished - 1 Jan 2014
Externally publishedYes


  • 6-PSS parallel manipulator
  • Dynamics
  • Kinematics
  • Virtual work

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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