Inverse dynamics of Hexa Parallel Robot based on the Lagrangian equations of first type

Abstract

Based on the Lagrangian equations of first type, the coordinate system is constructed according to the mechanical characteristics of Hexa Parallel Robot. The generalized coordinates are composed of six actuated independent coordinates plus redundant coordinates denoting the position and three Euler angles of active platform. After formulating the Lagrangian function, combining the constraint equations, the dynamics model of Hexa Parallel Robot is established.