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of parallel manipulator systems for different applications areas\udhas influenced many researchers to develop techniques for obtaining accurate\udand computational efficient inverse dynamic models. Some subject areas make\uduse of these models, such as, optimal design, parameter identification, model\udbased control and even actuation redundancy approaches. In this context, by\udrevisiting some of the current computationally-efficient solutions for\udobtaining the inverse dynamic model of parallel manipulators, this paper\udcompares three different methods for inverse dynamic modelling of a general,\udlower mobility, 3-<span style="text-decoration:underline; " class="text">P</span>RS parallel manipulator. The first method\udobtains the inverse dynamic model by describing the manipulator as three open\udkinematic chains. Then, vector-loop closure constraints are introduced for\udobtaining the relationship between the dynamics of the open kinematic chains\ud(such as a serial robot) and the closed chains (such as a parallel robot).\udThe second method exploits certain characteristics of parallel manipulators\udsuch that the platform and the links are considered as independent\udsubsystems. The proposed third method is similar to the second method but it\uduses a different Jacobian matrix formulation in order to reduce computational\udcomplexity. Analysis of these numerical formulations will provide fundamental\udsoftware support for efficient model-based designs. In addition,\udcomputational cost reduction presented in this paper can also be an effective\udguideline for optimal design of this type of manipulator and for real-time\udembedded control

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs