ABSTRACT
In contrast to the open-chain serial manipulators, dynamic analysis of parallel manipulators presents an inherent complexity due to their closed-loop structure. Nevertheless, dynamic modeling is quite important for control, particularly for parallel manipulators used in applications where precise positioning and desirable dynamic performance are the prime requirements. Several approaches have been proposed for the dynamic analysis of parallel manipulators. Traditional Newton-Euler formulation is used for dynamic analysis of general parallel manipulators [60], and also for the Stewart-Gough platform [33]. In this formulation, the equations of motion for each limb and the moving platform must be derived, which inevitably leads to a large number of equations and less computational efficiency. On the other hand, all the reaction forces can be computed, which is very useful in the design of a parallel manipulator.
