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DYNAMICS ANALYSIS OF THE 3-DOF PARALLEL ROBOT WITH PRISMATIC ACTUATORS

Recursive matrix relations for kinematics and dynamic analysis of a parallel robot with prismatic actuators are established in the paper. Three active links of the robot, hydraulically or pneumatically actuated posses three independent degrees of freedom. Given the platform’s motion, the inverse kinematical problem is developed, to determine the positions, velocities and accelerations of the mechanism. Using the method of virtual powers, the inverse dynamics problem is solved. Finally, matrix relations and graphs of the powers of three actuators are determined.