The dynamic equations of a parallel manipulator have a parallel structure. This paper shows that this parallelism gives rise to a recursive formula for the inverse of the inertia matrix of the manipulator. The formula generally requires no numerical methods, which are often used for calculating the inverse of the matrix; therefore, the formula is expected to yield high numerical accuracy. It is also shown that in some special cases, the formula does not involve any matrix inversion at all.
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications