Newton-Euler Dynamics for a 3-UPU Parallel Robot in Screw Coordinates

This paper investigates Newton-Euler dynamics in Screw coordinates for a parallel robot. In Screw coordinates, we get the absolute displacement through numerical integration of the velocity solution and the acceleration through numerical differential interpolation of the velocities of each joint. The absolute accelerations and displacements calculated in kinematics are used to establish the force equation and toque equation directly. The dynamics of a spatial 3-UPU parallel robot validate the algorithm. Although this paper only discusses the dynamics of a 3-UPU parallel robot, it is also suited to developing numerical algorithms for the kinematics and dynamics of a series mechanism and hybrid mechanism.