Kinematics and dynamics modeling of the 6-3-$$\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\text{P}}\text{US}$$P−US-type Hexapod parallel mechanism

Modeling and analyzing the dynamics of mechanical systems is important for purposes of simulation, design and control. In the case of parallel manipulators, dynamics modeling becomes a complex task mainly due to the constraints imposed by the closed kinematic chains, and several methods have been proposed for solving that problem. Some authors suggest first using a non-minimal set of coordinates and then computing a minimal dynamics model by means of the so-called projection method. This paper reports the use of such procedure for obtaining the dynamics model of a particular parallel mechanism of the type known as 6-3-$$\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\text{P}}\text{US}$$P−US. To compute the non-minimal dynamics we employed the Euler-Lagrange formulation. The computed kinematics and dynamics models were validated via numerical simulations. This modeling approach can be employed for similar mechanisms.