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ARTICLE IN PRESS Robotics and Computer-Integrated Manufacturing 24 (2008) 167–172 /locate/rcim A novel dynamic modelling approach for parallel mechanisms analysis a b, Stefan Staicu , Dan Zhang aDepartment of Mechanics, University ‘‘Politehnica’’ of Bucharest, Romania bFaculty of Engineering and Applied Science, University of Ontario Institute of Technology, Canada Received 5 May 2005; received in revised form 21 July 2006; accepted 27 September 2006 Abstract A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. r 2006 Elsevier Ltd. All rights reserved. Keywords: Recursive matrix method; Dynamic model; Parallel mechanism 1. Introduction Lewis, Ingersoll, Hexel, Geodetic Toyoda and others. The Hexapod machine tool is one of the successful