Dynamic analysis of 6-SPS parallel mechanism

This paper presents the kinematics and inverse dynamic analysis of a 6-SPS parallel mechanism based on the principle of Kane. The parameters of orientation and Euler angles of the moving platform are adopted as generalized coordinate. The gravity and inertial forces of all links and moving platform are considered in the mathematical model of inverse dynamics. Both kinematics and inverse dynamics equations are derived. Driving forces-time relation is derived form inverse dynamics model. The approach is verified by simulation results, which are consistent with the planned trajectory and kinematics parameters.