Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra

Abstract

The derivation of a kinematic and dynamic model for a parallel manipulator is presented in this paper. The model can be used to calculate displacements, velocities, and accelerations of both joints and links, and also joint torques and forces required to drive a manipulator. The expression in this paper, which is derived using the motor algebra and the Newton-Euler formulation, can be applied to many kinds of parallel manipulators.