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Kinematics anddynamics of a six-degree-of-freedom parallel manipulator with revolutelegs

Published online by Cambridge University Press:  01 July 1997

Kourosh E. Zanganeh
Institute for Aerospace Studies, University of Toronto, Downsview, Ontario, Canada M3H 5T6. E-mail:
Rosario Sinatra
Istituto di Macchine, Facoltà d'Ingegneria, Università di Catania, Viale A. Doria 6, 95125 Catania, Italy. E-mail:
Jorge Angeles
Department of Mechanical Engineering & Centre for Intelligent Machines McGill University, Montreal, Quebec, Canada H3A 2K6. E-mail:


This paper presents the kinematics and dynamics of a six-degree-of-freedom platform-type parallel manipulator with six revolute legs, i.e. each leg consists of two links that are connected by a revolute joint. Moreover, each leg is connected, in turn, to the base and moving platforms by means of universal and spherical joints, respectively. We first introduce a kinematic model for the manipulator under study. Then, this model is used to derive the kinematics relations of the manipulator at the displacement, velocity and acceleration levels. Based on the proposed model, we develop the dynamics equations of the manipulator using the method of the natural orthogonal complement. The implementation of the model is illustrated by computer simulation and numerical results are presented for a sample trajectory in the Cartesian space.

Research Article
© 1997 Cambridge University Press

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