In this paper we present an analytical approach for the static and dynamic analysis of the PAMINSA, a new 4 degrees of freedom parallel manipulator that has been designed at the I.N.S.A. in Rennes. On the base of the developed static model, the input torques due to the static loads are reduced by means of the optimum redistribution of the moving link masses. The analytical dynamic modeling of the PAMINSA by means of Lagrange equations is achieved. A numerical example and a comparison between the suggested analytical model and an ADAMS software simulation are presented.

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