Dynamic modeling of a class of spatial statically-balanced parallel platform mechanisms

This article discusses the modeling of the dynamics of a class of spatial parallel platform mechanisms. For mechanisms of this class perfect static balancing can be achieved through the use of springs. This means that zero actuator torques are required whenever the mechanism is at rest. Furthermore, only inertial forces have to be sustained when the manipulator is moving. Models for the dynamics are implemented based on two different methods, the principle of virtual work and the method of Neutron-Euler. The results of the dynamic analysis can be used to calculate and compare the required actuator torques of different mechanisms for specific payload and trajectories. The ultimate goal is to use these results to design a prototype with six degrees-of-freedom that only requires very small actuator torques to be used for example in flight simulators