Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains

This paper provides kinematic and dynamic analysis for robots with the structure of single-closed kinematic chain.The single-closed kinematic chain is divided into left and right paths for establishing the motion equations of an intermediate link,and then the displacement,velocity and acceleration of the passive joints are derived. On the ground of these equations, the formulas of calculating velocity and acceleration of each link are obtained. Finally, the inverse dynamics of the robots is modelled, using Kane's dynamical equations.