Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator
From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.
G. J. Liu et al., "Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator", Applied Mechanics and Materials, Vol. 127, pp. 172-180, 2012