Equations are derived for dynamic analysis of a parallel manipulator. Using the motor algebra, an equation for the equilibrium condition of forces and moments at each link is derived and unneeded parameters are eliminated from these equations to give equations for calculating the joint torques needed to drive the parallel manipulators. As a result, it is shown that, just as for a serial manipulator, the joint torques in a parallel manipulator can be found from the transposed Jacobian. The method derived here is applied to the Stewart Platform, which is a special case of a parallel manipulator and the result obtained is dynamically considered to confirm the appropriateness of this method.

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