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An evaluation of a numerical iterative scheme for an on-line solution of the forward kinematic problem is also presented. Effects of different configurations of the unpowered joints on the angular velocities and accelerations of the links are considered. The Newton-Euler formulation is used to derive the rigid body dynamic equations. Inclusion of models for actuator dynamics and joint friction is discussed.<\/jats:p>","DOI":"10.1017\/s0263574703005046","type":"journal-article","created":{"date-parts":[[2003,10,9]],"date-time":"2003-10-09T11:32:00Z","timestamp":1065699120000},"page":"541-554","source":"Crossref","is-referenced-by-count":164,"title":["Kinematic and dynamic analysis of Stewart platform-based machine tool structures"],"prefix":"10.1017","volume":"21","author":[{"given":"K.","family":"Harib","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"K.","family":"Srinivasan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2021,3,2]]},"reference":[{"key":"S0263574703005046_bib1","unstructured":"Gough, V.E. and Whitehall, S.G. , \u201cUniversal Tyre Test Machine\u201d, Proc. 9th International Technical Congress F.I.S.I.T.A. 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