for robotic systems. Inverse dynamic

solution is an essential part of these controllers. In the present work, the inverse dynamics model

of a 3-PRR (prismatic–revolute–revolute) planar parallel manipulator based on the natural...

examples, one for direct and one for inverse dynamics are presented. The correctness and accuracy of the obtained solution are verified by comparing with the solution of the virtual work method as well as commercial multi-body dynamics software....

Inverse dynamics of a general model of a spherical star-triangle (SST) parallel manipulator (Enferadi and Akbarzadeh Tootoonchi, Robotica 27:663– 676, 2009) is the subject of this paper. This manipulator is of type 3-RRP, has good accuracy...