Inverse dynamic modeling for a 3-RRRT parallel manipulator

In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange multiplier. Finally, a numerical example for the inverse dynamics of the manipulator is given to illustrate the results, the torques and powers of actuating joints are derived.