Abstract: Dynamics of the 3-PRS spatial parallel mechanism is analyzed by
finite element method. This spatial beam element is introduced
and the equations of the motion of mechanisms with rigid links
are derived using principle of virtual power. A computer program
is developed according to the formulations and with which the
numerical results of motion of the 3-RPS mechanism are
presented.
Key words: Finite
element method Euler parameters Spatial parallel mechanisms
Manuscript received on
December 15, 1998; revised manuscript March 20, 1999
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