Abstract—This paper presents a process for solving the inverse dynamics of a parallel kinematic mechanism named Hexa, which consists of six arms with rotational, universal, and spherical joint configurations with six degrees of freedom. The methodology is based on D'Alembert’s principle combined with the virtual work principle and the concept of link Jacobian matrices. The virtual works generated by the external and inertial forces were analyzed separately and then combined to facilitate the calculation. The novelty of this work is twofold. First, the derivation of Hexa dynamical equations of motion can be reduced to a system of six equations. Second, these equations can be validated using a virtual physical model. These equations are the basis of the control strategy and support the mechanism optimization design.

Keywords—parallel robot, dynamics model, virtual work, D'Alembert’s principle, six degree of freedom

Cite: Diego. Nunez, Mauricio. Mauledoux , Oscar. Aviles , and Adriana. Nino, "Inverse Dynamics of a Hexa Parallel Robot Based on the Principle of Virtual Work," International Journal of Mechanical Engineering and Robotics Research, Vol. 14, No. 2, pp. 200-211, 2025. doi: 10.18178/ijmerr.14.2.200-211

Copyright © 2025 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).