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Recursive matrix relations for the complete dynamics of a 3-PRP planarparallel robot are established in this paper. Three identical planar legsconnecting to the moving platform are located in the same vertical plane.Knowing the motion of the platform, we develop first the inverse kinematicalproblem and determine the positions, velocities and accelerations of the robot.Further, the inverse dynamic problem is solved using an approach based on theprinciple of virtual work. Finally, some graphs of simulation for the inputpowers of three actuators and the internal joint forces are obtained.

Internal joint forces in dynamics of a 3-PRP planar parallel robot