The kinematics and the full minimal dynamic model of a 6-DOF parallel robot manipulator (Q1306132)

The authors present geometric and kinematic analysis of a class of 6-DOF parallel robots with three limbs. The inverse geometric and kinematic solutions are obtained in closed form for a given Cartesian configuration. The Taylor expansion method is employed to solve the direct geometric problem. The author investigate general inverse dynamic relations, and obtain separately dynamic coefficients of a closed kinematic chain. Based on geometrical properties of the robot, the authors are able to derive the equations of the motion in terms of only nine coordinates related by three kinematic constraints instead of 18 joint coordinates.