Inverse Dynamics of Hexa Parallel Robot Using Lagrangian Dynamics Formulation

In this paper we will study dynamical model of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots´ relationships there are few works done on their dynamical modeling. Although Newtonian approach is a straightforward method, it may not directly result in a suitable model for most of famous control schemes such as robust, adaptive or robust-adaptive; this model is usually calculated from Lagrangian formulation. Since parallel manipulators are usually very nonlinear, using Lagrange equation of the second type is a tremendous work while Lagrange equation of the first type decreases much complexity. Also we have written software, HEXA STUDIO, suitable for design, kinematics, dynamics and control of the Hexa robot.