Static analysis of spatial parallel manipulators by means of the principle of virtual work

J. Jesús Cervantes-Sánchez, José M. Rico-Martínez, Salvador Pacheco-Gutiérrez, Gustavo Cerda-Villafaña

Research output: Contribution to journalArticlepeer-review


It is presented a comprehensive approach for the static analysis of spatial parallel manipulators using the principle of virtual work, equipped with a recursive and systematic formulation, which is intended for conducting an efficient manipulation of the kinematics associated with the problem. Thus, it is possible omitting all internal forces and nonworking external constraint forces in the problem formulation. As a result, the actuator drive forces and/or torques can be directly related with the external loads supported by the manipulator, including the weight of the mobile platform and also the weight of the links of the connecting legs. A thorough understanding of these forces and/or torques is important for proper sizing of actuators at the design stage. In order to prove the feasibility and the validity of the proposed method, two fully detailed examples are presented. © 2011 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)385-401
Number of pages16
JournalRobotics and Computer-Integrated Manufacturing
Issue number3
Publication statusPublished - Jun 2012


  • Driving forces
  • Parallel manipulator
  • Statics
  • Virtual work


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