Abstract
A comparative study of the dynamics of the 3-PRS parallel mechanism between the full case, considering the parasitic motions, and a simplified one, ignoring the parasitic motions, is presented in this work. A simplified dynamic model would be of great interest to determine the dimensions of the actuators and to solve the dynamic problem much easier and faster. The dynamic problem of the manipulator is studied using the Newton-Euler approach and a simulation inMatlab verifies that the parasitic motions can be ignored in the dynamic problem, for some given conditions. © Springer Science+Business Media Dordrecht 2013.
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Herrero, S., Pinto, C., Corral, J., Aginaga, J., & Campa, F. J. (2013). Simplified kinetostatic model of the 3-PRS manipulator. In Mechanisms and Machine Science (Vol. 7, pp. 375–382). Kluwer Academic Publishers. https://doi.org/10.1007/978-94-007-4902-3_40
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