This paper proposes two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration. The planar configuration has three legs each with a Prismatic-Prismatic-Revolute [PPR] configuration where the first joint is actuated. These three legs are joined by an end-effector which is in the form of an equilateral triangle. The dynamics of the manipulator was derived using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices. Both the formulations are elucidated and the resulting formulation are compared under similar conditions to validate them. © Springer Nature Singapore Pte Ltd. 2016.

Jayant Kumar  Mohanta

Department of Mechanical Engineering

IIT Jodhpur

V. Venkatesan

S.K. Saha

M. Santhakumar

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Journal	Data powered by TypesetCommunications in Computer and Information Science
Publisher	Data powered by TypesetSpringer Verlag
ISSN	18650929