Acta Mechanica Sinica

, Volume 34, Issue 5, pp 883–895 | Cite as

Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work

  • Siamak PedrammehrEmail author
  • Saeid Nahavandi
  • Hamid Abdi
Research Paper


In this research, a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work. For the first time, a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms. An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories. Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.


Parallel mechanism Hexarot Simulator Dynamics Virtual work principle 


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Copyright information

© The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Siamak Pedrammehr
    • 1
    Email author
  • Saeid Nahavandi
    • 1
  • Hamid Abdi
    • 1
  1. 1.Institute for Intelligent Systems Research and InnovationDeakin UniversityGeelongAustralia

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