Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle
Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform.
W. H. Wang et al., "Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle", Applied Mechanics and Materials, Vols. 29-32, pp. 744-749, 2010