Study of 3-RRRU Parallel Manipulator for its Dynamics Based on Method Kane

Focused on 3-RRRU parallel manipulator, this paper sets up its kinematic modeling through vector analysis. Then, velocity, angular velocity, partial velocity, partial angular velocity, acceleration, and angular acceleration are presented for every bar in every leg. Further, dynamic modeling of 3-RRRU parallel manipulator is established and analyzed under appropriate generalized coordinates. Finally, a numerical simulation example is given.