Dynamics of delta parallel robot with prismatic actuators

Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.