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Inverse dynamics of a highly stiff parallel machine tool is the subject of this paper. A systematic approach, based on the principle of virtual–work, for solving inverse dynamics of this machine is outlined. This method allows elimination of constraint forces and moments at the joints from motion equations. Based on this principle and using the concept of the Jacobian matrices and linear algebra, a systematic approach for formulation of dynamic equations is presented. We will show that these equations for the parallel robot under study leads to a set of linear system equations. Moreover, several paths for end–effector are simulated and input torqueses are obtained. The simulation results are validated using results obtained with NOC (Natural Orthogonal Complement) method [1].<\div>

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