LAUSR

Abstract Dynamic modelling is a comprehensive topic in the area of multibody systems. Particularly, for parallel mechanisms, a great number of approaches have already been proposed in the literature. From the perspective of parallel robot design, though, a need to simplify and systematize the modelling procedures can still be identified, making it easier to generate and modify a model, exploring the intrinsic modularity of these systems. The Modular Modelling Methodology (MMM), recently introduced to deal with general multibody systems, intends to improve the derivation process, through the use of libraries of mathematical models already available for mechanical subsystems (modules) along with general-purpose computational tools. Considering the distinctive topology of parallel mechanisms, this paper introduces a novel hierarchical method, based on the MMM, for deriving mathematical models for these systems. In order to illustrate the application of this methodology and to demonstrate its inherent benefits, a sample library of models and a case study of a spatial parallel mechanism, the 2 RRRS + P(Pa)P, are provided.