Abstract
The modeling of parallel kinematic machines (PKM) has been a topic of ongoing research since PKM started to gain popularity more than twenty years ago. Due to the modular setup of most PKM, research has been conducted towards modular modeling paradigms. This applies in particular to so-called fully parallel PKM. Recently, a general modeling approach was introduced for such PKM, which rests on a Lie group formulation of the kinematics and dynamics. Therein, the PKM kinematics is described by means of screw coordinates, which makes this a user-friendly approach free from restrictive modeling conventions. In this paper, application of the method is demonstrated for a simple planar 3RPR PKM.
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