Abstract: A modular computation method for inverse kinematics and dynamics of spatial parallel manipulator is investigated. It improves the calculation efficiency so that real-time control can be realized. Based on the analytic kinematic and dynamic solutions of chains, the inverse dynamic models of spatial parallel manipulator are established using the Newton—Euler approach and Lagrange multiplier. A software architecture for the inverse kinematics and dynamics of spatial parallel manipulator is presented. The results show that the method can be used for the automatic generation of inverse kinematic and dynamic solutions and reconfiguration design of non-redundant spatial parallel manipulator. As an illustration, a novel parallel manipulator is analyzed using this method.

Key words: Dynamics, Kinematics, Parallel manipulator