Evaluation of inverse dynamics of hexarot-based centrifugal simulators

Dynamic modeling is necessary for design, optimization, simulation and control of mechanisms. This paper presents the evaluation of the inverse dynamics model which has recently been developed based on the Newton–Euler approach for a hexarot manipulator. The evaluation is performed under SimMechanics environment. By comparing the results of the analytical and SimMechanics models, it is found that the both the models are accurate and reliable.