A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators

This paper presents a general strategy based on the Newton-Euler approach to the dynamic formulation of parallel manipulators. It is shown that, for parallel manipulators, through appropriate selection and ordering of the equilibrium equations, the Newton-Euler method can be used with advantage not only for inverse dynamics computations, but also for the derivation of dynamic equations in closed form. The proposed strategy has been illustrated through its application to several planar and spatial manipulators. Cases of parallel manipulators requiring particular considerations are also discussed with recommendations of special measures to be taken in different classified cases. (C) 1998 Elsevier Science Ltd. All rights reserved.