This article presents an algorithm to solve the inverse dynamics for platform type of manipulators using Newton‐Euler equations of motion. We found that the inverse dynamics of the system is governed by thirty‐six linear equations. The number of these simultaneous equations can be reduced to six, if a proper sequence is taken. The relationships between the actuating forces and the shape of the structure are analyzed. Based on the algorithm, computer code for simulation was developed. Three cases were studied. As a result, configurations which minimize the actuating forces are suggested. It is also found that the fluctuation of the driving forces is lesser when the path is closer to the center of the base. These results are believed to be useful in the design and control of this type of manipulating devices.

This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.