A method for 6-PSS parallel robot dynamics model

The paper studied a dynamic model for a 6-PSS parallel robot. First, a general method to calculate the inverse dynamics model of the parallel robot has been given out, and then the direct dynamics model with Lagrange method has been established. Comparing with the traditional method which use the input as the generalized coordinates, using pose as a method of generalized coordinates can greater improve the computer-controlled real-time control. The model is expressed in a closed form by a single equation in which all the elements need are expressed. The proposed method is applied in this paper on the dynamics-depth analysis and optimal control.