Forward Dynamics of a 3T1R Parallel Manipulator

This paper presents the solution of the forward dynamics problem of a parallel kinematic manipulator (PKM) able to generate the Schönflies motion of its moving platform. This motion consists of a spatial translation (3T) with a rotation about a fixed axis (1R). A dynamical model of the PKM was developed following the Lagrange method according to a multibody approach with an augmented formulation to include the kinematics of the legs in the model. A solid model simulation was then carried out to validate the mathematical model.