Inverse Dynamics Formulation and Analysis of a Parallel Manipulator with 3DOFs based on the Virtual Work Principle

Dynamics formulation is a primary task for dynamic optimization, control strategy design and servomotor parameters estimation of the parallel manipulator (PM). In this paper, by using the simple operation form of reciprocal screw and Lie Algebra, the compact expressions of complete Jacobian and Hessian matrix are derived. Then the inverse dynamics of 3PRS parallel manipulator is formulated based on the efficient principle of virtual work. In this model, the generalized forces of both actuation and constraint can be solved. Finally, a numerical simulation example is given to demonstrate this simple yet effective approach.