Inverse dynamics of star parallel manipulator

摘要

Recursive matrix relations for kinematics and dynamics of a Herve's star parallel manipulator are established in this paper. The prototype of this robot is a three-degree of freedom spatial mechanism, which consists of a system of parallel kinematical chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using a new matrix approach. Finally, some iterative matrix relations and some graphs for the torques and the powers of the three active couples are determined.