Computation of parallel link manipulator dynamics

This paper proposes an algorithm, which calculates the inverse dynamics of parallel link manipulators. The authors propose a method to calculate the inverse dynamics of general type of parallel link mechanisms using the method proposed by Luh et al. (1985), which is developed for a simple closed link mechanism and calculates the inverse dynamics of the simple closed link mechanism using the Newton-Euler method of serial link manipulators. The authors then derive a calculation algorithm of the inverse dynamics of a Stewart Platform. The algorithm is applied to dynamic simulation of a Stewart Platform by a unit-vector method. The simulation results demonstrate the method