Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism

In this paper, the kinematics and inverse dynamics of a novel kind of mechanism called a general 3-PRS parallel mechanism is investigated. In the kinematics study, the inverse kinematics solution is derived in closed form, and the forward kinematics problem is resolved by the Newton iterative method seeking for an on-line solution to this issue. The inverse dynamics analysis is approached with two methods: Lagrangian formulations and principle of virtual work. After deriving the dynamic model by a Lagrangian formulation approach, the simulation results of two introduced examples quantitatively and qualitatively verify the accuracy of the derived dynamic equations. By introducing a simplifying hypothesis, a simplified dynamic model is set up using principle of virtual work, also a computer simulation is performed on this reduced model. The simulation results demonstrate that the simplified dynamic model is reasonable under such kind of assumptions through comparison with the precise model derived from the Lagrangian formulation. The inverse dynamics analysis provides a sound basis to develop controllers for controlling over a general 3-PRS parallel robot.