Reduced inverse dynamic model of parallel manipulators based on the lagrangian formalism

Abstract

This paper deals with the dynamic modeling of the 3-UPU parallel robot based on the Lagrangian formalism. The reduced inverse dynamic model gives the actuators forces as function of only the active variables and the manipulator load. The closed loops equations are used in order to eliminate the passive coordinates from the equations of motion as well as the Lagrange multipliers. This type of model can be useful for the control of parallel robots.