Direct and Inverse Dynamics Modeling of a 6-PUS Parallel Robot

The six prismatic-universal-spherical (6-PUS) parallel robot is studied. The dynamic model presented by Merlet [1] is analyzed, and it is shown that since the model does not take into account the reaction forces, given a certain arrangement of the legs, the model presented by Merlet fails. Additions to the model are made in order to take the reaction forces into account. With these additions, both the inverse and direct dynamic models are obtained.