A new approach for the dynamic analysis of parallel manipulators (Q1286742)

We present on approach for the dynamic analysis of parallel manipulators which is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough-Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the numerical aspects of the algorithms.