Linear dynamic modeling of parallel kinematic manipulators from observable kinematic elements

This paper presents a linear method for kinematic and dynamic modeling of parallel kinematic manipulators. This method is simple, compact and clear. One can write all the equations from the beginning till the end with pen and paper. It is thus well suited to mechanical understanding and computer implementation. We can apply it to many parallel robots. This method relies on a body-oriented representation of observable rectilinear kinematic structures (kinematic elements) which form the robot legs.