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For improving the reliability and efficiency of the kineto-static analysis of complex robot systems, the corre- sponding vector bond graph procedure is proposed. By the kinematic constraint condition, the vector bond graph model of universal joint are made. Based on this, the vector bond model of 3-RRRT parallel Manipulator is built. For solving the algebraic difficulties brought by differential causality in system automatic kineto-static analysis, the effective bond graph augment method is proposed. From the algebraic relations of input and output vectors in the basic fields, junction struc- ture and Euler-junction structure of system vector bond graph model, the unified formulae of driving moment (or force) and constraint forces at joints are derived, which are easily derived on a computer in a complete form. As a result, the automatic kineto-static analysis of 3-RRRT parallel Manipulator is realized, the validity of the method presented here is illustrated.

A Computer Aided Kineto-Static Analysis Method for 3-RRRT Parallel Manipulator Based on Vector Bond Graph