Alizade, RasimBayram, Çağdaş2021-01-242021-01-2420047111140737https://hdl.handle.net/11147/1009511th World Congress in Mechanism and Machine ScienceThis paper addresses the dynamics and kinematics of a 6xUPS type parallel structure manipulator that consists of six branches and a platform. The problem of forward and inverse displacement analysis is considered on the base of solution of the forward displacement problem for each UPS branch as a serial manipulator. Basic dynamics equations have also been considered. The values of reduced moments and forces have been determined that provides the required input forces and moments. Thus, we deal with inverse dynamics problems. Dynamic model of this type of spatial manipulator is described by a system of six non-linear differential equations of second order with applying Lagrange-Euler methods.eninfo:eu-repo/semantics/closedAccessParallel manipulatorsScrew theoryForward displacementInverse displacementInverse dynamicsConference Object