Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 7, issue 1
Articles | Volume 7, issue 1
https://doi.org/10.5194/ms-7-9-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-7-9-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 7, issue 1
Research article
 | 
18 Jan 2016
Research article |  | 18 Jan 2016

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

M. Díaz-Rodríguez, J. A. Carretero, and R. Bautista-Quintero

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Short summary
Three methods for formulating the dynamic model of parallel manipulators are compared in terms of their computational efficiency. The first two have been previously presented in the literature while the last one is introduced in this paper. Analysis of these numerical formulations provides a guideline for computational cost reduction for optimal design of this type of manipulator and for real-time embedded control.
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