Abstract

In this paper, the direct kinematics and dynamics, as applied to a three degree-of-freedom planar parallel manipulator, are studied. In the direct displacement problem, the method of virtual removal of kinematic constraints and a technique of four-bar linkage-performance evaluation are applied, so that the problem can be solved efficiently. Moreover, branches of solution may also be controlled in the numerical procedure without involving additional computations. In the dynamics formulation, the natural orthogonal complement is applied, which leads to the algorithmic-oriented equations of motion involving only independent generalized coordinates. A new and simple method is introduced to calculate the natural orthogonal complement and the joint-velocity Jacobian matrices. A fully solved numerical example of direct kinematics and dynamics is included.

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