A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a new design of a fully spherical robot that is called a 3(RSS)-S parallel manipulator with real co-axial actuated shafts. The proposed robot can completely rotate about a vertical axis and can be used in celestial orientation and rehabilitation applications. After describing the robot and its inverse position, velocity and acceleration analysis is performed. Next, based on Kane's method, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated.