Parallel computational algorithms for the kinematics and dynamics of parallel manipulators

An approach for the computation of the inverse dynamics of parallel manipulators is introduced. It is shown that, for this type of manipulator, the inverse kinematics and the inverse dynamics procedures can be easily parallelized. This leads to a closed-form efficient algorithm using n processors, where n is the number of kinematic chains connecting the base to the end-effector. The dynamics computations are based on the Newton-Euler formalism. The parallel algorithm arises from a judicious choice of the coordinate frames attached to each of the legs, which allows for the exploitation of the parallel nature of the mechanism itself. An example of the application of the algorithm to a spatial six-degree-of-freedom parallel manipulator is presented