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Notice of Retraction
After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.
We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.
The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.
Inverse dynamic model of the planar parallel manipulator is established based on Newton-Euler method and single opened chain of limb. Inverse Analytic solutions of limbs are deduced. And the relationship is obtained between the displacement, velocity, acceleration of the manipulator moving platform and those of the limbs. Analyses on the driving forces and support forces of the joint are carried on under given kinematics. Computer simulation of the driving forces and support forces of joints are mapped.