Acceleration estimation of redundant input parallel mechanism by inverse dynamics

For common parallel mechanisms, outputs are often coupled strongly with inputs. Redundant input parallel mechanism has more inputs than usual and which makes it much more complex. Parallel mechanism is very fit for vibration platform for its high acceleration and rigidity. While acceleration estimation of the moving platform is influenced by many factors, such as mechanism parameters, type structure and performance of servomotor. This paper divides the redundant input parallel mechanism into three parts, including the moving platform, slide-screw-coupling-motor sub-system and the fix-length bar. And then the inverse dynamics is built up by virtual work prince. Finally the acceleration estimation method is introduced by example of this redundant input parallel mechanism.