Dynamic Analysis of a 5-DOF (1-PU/2-PSS)PP Parallel-serial Manipulator

This dataset contains Julia files that solve the inverse dynamic problem of a 5-DOF parallel-serial manipulator, whose kinematics was analyzed in works https://doi.org/10.1177/1729881421992963 and https://doi.org/10.3390/machines10040276. The corresponding paper describing the applied algorithm will be presented on the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2025) and published in the "Mechanism and Machine Science" series. Please check the list of works at https://orcid.org/0000-0002-3928-5440.

The dataset includes the following files:
1. File "main.jl" is the main file that performs the dynamic analysis and presents the results.
2. File "init.jl" is used to define geometrical and inertial parameters of the manipulator links.
3. File "trajectories.jl" is used to set trajectory of the manipulator end-effector.
4. File "kinematics.jl" computes kinematic parameters (positions, velocities, accelerations, etc.) of the links.
5. File "dynamics.jl" computes the drive forces to realize the desired end-effector motion.
6. File "plots.jl" includes functions that visualize the results of the dynamic analysis.
7. Optional files "Project.toml" and "Manifest.toml" contain information about the used packages.