Inverse Dynamics of the Agile Wrist Spherical Parallel Robot

Some iterative matrix relations for the kinematics and dynamics of a spherical Agile Wrist parallel robot are established. The manipulator prototype is a three-degree-offreedom mechanical system with three parallel legs. Controlled by concurrent torques, which are generated by some electric motors, three active elements of the robot have three independent rotations. Supposing that the position and the rotational motion of the platform are known, an inverse dynamic problem is developed using a new matrix approach to compute the actuating torques. Finally, some recursive matrix relations and some graphs for the time-history of the torques are determined.