exploring the kinematics and kinetics of the novel ct-3rprs robot

This paper comprehensively investigates the dynamic modeling and simulation of the conjoined twins 3rprs (ct-3rprs) robot, an advanced parallel spatial mechanism distinguished by its kinematic efficiency, structural rigidity, and expansive accessible workspace. the ct-3rprs robot is equipped with six actuators, comprising three prismatic and three revolute actuators, which contribute to its unique structure, enabling precise control over its constrained kinematic chains. to thoroughly analyze the robot’s kinematics and kinetics, the jacobian matrix and lagrange multipliers are employed, respectively, to resolve reaction forces and moments inherent to closed-loop topologies. motion equations are systematically derived using dual methodologies: the euler-lagrange formulation, which accounts for energy-based dynamics, and the principle of virtual work, which ensures equilibrium under non-conservative forces. these equations are subsequently verified to ensure their equivalence. the comprehensive modeling processes are rigorously validated through matlab simulations, providing a robust framework for analysis. additionally, the results obtained from matlab are corroborated using simscape, further confirming the accuracy and reliability of the dynamic models. this study highlights the dynamic features of the ct-3rprs robot as well as the effectiveness of the employed modeling techniques.