Abstract
The inverse dynamic of two 3UPU parallel manipulators (PM) are analyzed in this paper. The first 3UPU PM has three translational degree of freedom (DOF) and the second 3UPU PM has two translational and one rotational DOF. First, the mobility of the two UPU PMs is analyzed. Second, the constrained forces/torques in UPU-type legs are determined, and the 6×6 Jacobian matrices of the two 3UPU PMs are derived by considering the constrained forces/torques. Third, based on the principle of virtual work, the dynamic is solved with the active forces and the constrained forces/torques derived. Finally, an analytic solved example for the 3UPU PM is given.
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