Dynamics and Motion Control of a Three Degree of Freedom 3-PRRR Parallel Manipulator

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 89)


This work focuses on the dynamic modelling and motion control scheme of a parallel manipulator which has three legs of prismatic-revolute-revolute-revolute joint setup. In each of the legs, the prismatic (P)-joint is active and the rotary (R)-joints are passive. The three legs further join into an end-effector in a right-angled triangle shape. The Euler-Lagrangian approach is followed to achieve the dynamics of the manipulator. The formulations are detailed and simulated. This paper also presents an augmented proportional-derivative (PD) controller along with gravity compensation for the motion control. This control method transforms the closed-loop dynamics of the manipulator into decoupled, and thus it becomes easier to quantify the motion performance. The trajectory tracking performance and its accompanying errors are also discussed.


Parallel manipulator Motion control Inverse dynamics Cartesian manipulator Proportional derivative control 



This research is partly assisted by the Russian Science Foundation (RSF), Russia, the agreement number 19-19-00692 and partly assisted by the Council of Scientific and Industrial Research (CSIR), India, the project number 22(0829)/19/EMR-II.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.IIT PalakkadPalakkadIndia
  2. 2.NIT SilcharSilcharIndia
  3. 3.Belgorod State Technological University (BSTU) named after V.G. ShukhovBelgorodRussia

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