DYNAMIC EQUATIONS OF SIX-DOF PARALLEL ROBOT

This paper deals with the formulation of explicit dynamic equation of six-DOF parallel robot. Explicit expression of six dimensional inertial force vector related to actuate velocities and accelerations is derived, the first and second-order inertial influence coefficients are defined.Thus establishes the explicit dynamic equation of six-DOF parallel robot by using D’Alembert theorem. Finally a numerical example isgiven.