Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Sajeeva Niranta Yapa Abeywardena, Chao Chen

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6 Citations (Scopus)


The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.
Original languageEnglish
Pages (from-to)1-24
Number of pages24
JournalMultibody System Dynamics
Issue number1
Publication statusPublished - Sep 2017


  • Parallel mechanisms
  • Inverse dynamics
  • Base inertial parameters

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