Abstract
Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute- cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, ve- locities and accelerations of the robot's elements. Fur- ther, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equa- tions with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve success- fully the control of the motion of such robotic sys- tem.
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