Dynamic Analysis of a Six-Degrees of Freedom 3-RRPS Parallel Mechanism

The present research proposes contributing to the dynamic analysis of a specific type of tripod mechanism. This parallel mechanical architecture features three linkages connecting its fixed base to its mobile platform. However, unlike the traditional 3-RPS tripods, the base of each linkage is moved by a slider along the circular rail that forms its fixed base. By pure kinematics, such a mechanism can be represented as a 3RRPS parallel manipulator. The dynamic model is found by an acceleration analysis as well as dynamic modeling using the Euler-Lagrangian approach. The entire dynamic analysis of the 3-RRPS parallel mechanism is then validated through a number of simulations on mathematical and kinematic software.