This paper presents the kinematics and dynamics of a
six-degree-of-freedom platform-type parallel manipulator with six revolute legs,
i.e. each leg consists of two links that are connected by a revolute joint.
Moreover, each leg is connected, in turn, to the base and moving platforms by
means of universal and spherical joints, respectively. We first introduce a
kinematic model for the manipulator under study. Then, this model is used to
derive the kinematics relations of the manipulator at the displacement, velocity
and acceleration levels. Based on the proposed model, we develop the dynamics
equations of the manipulator using the method of the natural orthogonal
complement. The implementation of the model is illustrated by computer
simulation and numerical results are presented for a sample trajectory in the
Cartesian space.