Abstract
In this paper we present the kinematic and dynamic analysis of a parallel architecture manipulator with linear actuators, consisting of two 3-RRPS mechanisms through the screw theory and the principle of virtual work, respectively. The equations of input / output speed and acceleration are obtained by applying the Klein form of the Lie algebra. In addition, the generalized forces of the mechanism are determined by combining the above theory with the principle of virtual work. Finally, we present a case of study; the numerical results are compared with simulations using ADAMS software.
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