The greatest difficulty in the model based approach lies in developing a numerically simple dynamic model. After an overview of current methods found in the literature, the proposed method is described. The mass matrix of the robot is first established,based on kinetic energy considerations. It is then shown that for parallel robots, the derivation of Coriolis and centrifugal forces from this mass matrix leads to too much computation. Thus, the dynamic model of the robot is calculated based on the virtual work principle that leads to a simple formulation. The method is finally applied to the DELTA parallel robot.
2. Literature Overview