Code implementation for modeling parallel robots (PKM) with complex loops, and a Delta robot example

This is the Mathematica code implementation of the formulation of dynamics motion equations (EOM) for parallel kinematics robots (PKM) presented in the paper A. Mueller: "Dynamics of Parallel Manipulators with Hybrid Complex Limbs - Modular Modeling and Parallel Computing", Mechanism and Machine Theory, 2021, https://doi.org/10.1016/j.mechmachtheory.2021.104549 This dataset includes: * Lie group implementation of the kinematic and dynamics EOM * Example of a 3 DOF Delta robot * C code export and implementation in Matlab