Abstract
Recursive matrix relations for the complete dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.
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