Inverse dynamic simulation of the limited-DOF parallel mechanism

Due to the advantages of simple mechanical structure, low manufacturing cost, simple control algorithm, the limited-DOF mechanism has caught most attention from researchers. Out of the number of its DOF is less than six, the limbs must transmit actuation and constraint force at the same time. So both the required actuation and constraint force analysis are necessary in the dynamic control and optimization design of mechanism. In this paper, inverse dynamics equations of 2UPS-2RPS, as an example, are modeled by using the Newton-Euler formulation, through solving which the required actuation and constraint forces can be obtained when the motion of moving platform and working load are given. A computational example is provided.