Parallel robots seem to be the most suitable spots requiring high performance such as speed and accuracy. Such performances sought now are that the dynamics of parallel structures is no longer negligible. This work represents a contribution in this latter context; it deals in the whole dynamic study of a parallel robot with six degrees of freedom constituting the so-called Gough Stewart platform. In determining the direct and inverse geometric model, we use a setup based on Khalil and Kleinfinger ratings [7] for structures with closed loops. The kinematical modeling, using the calculation of the Jacobian matrix and its inverse, were deduced from the joint velocities of the six cylinders in order to follow a desired trajectory for the platform. The Newton Euler formalism is used to model the dynamics of the robot and the first to consider each kinematics chain (legs) as a serial structure, and then by considerations of balance and closed chain, we determine the dynamics of the platform.
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