Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine

In this work the kinematics and dynamics of a six degrees of freedom 3-RPSR parallel manipulator, used as a pipe-bender machine, are solved. First the forward position analysis of the mechanism under study is solved by using mechanical constraints equations. Afterwards, the velocity and acceleration analysis are addressed by taking advantage of the properties of reciprocal screws. Then, the generalized forces of the mechanism are determined by combining the screw theory with the principle of virtual work. Finally, a numerical example is provided.