Power requirement comparison in the 3-RPR planar parallel robot dynamics (Q1016987)

The author derives a set of recursive matrix equations to describe the dynamics of 3-RPR planar robot components. These are devices with three revolute and three prismatic articulators. Knowing the platform motion, the author initially develops the inverse kinematics. Iterative matrix equations then establish the power requirement for the robots. The paper provides a potentially useful computational procedure for robot designers and engineers.