Dynamic analysis of a Stewart platform manipulator

被引：0
|
作者：
Guo, HB [1 ]
Li, HR [1 ]
机构：
[1] Harbin Inst Technol, Sch Mech & Elect Engn, Dept Mech Engn & Automat, Harbin 150001, Heilongjiang, Peoples R China
来源：
ADVANCES IN DYNAMICS, INSTRUMENTATION AND CONTROL | 2004年
关键词：
D O I：
10.1142/9789812702289_0002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic equations of the Stewart platform manipulator in the task-space are derived by applying the combination of the Newton-Euler method with the Lagrange formulation including the dynamics of the legs. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a parallel manipulator. Simulation results reveal the effect of the leg inertia on the dynamics of the complete system and verify the dynamic modeling for the model-based control.
引用
收藏
页码：11 / 20
页数：10
相关论文
共 50 条
  • [1] DYNAMIC ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR
    LEBRET, G
    LIU, K
    LEWIS, FL
    JOURNAL OF ROBOTIC SYSTEMS, 1993, 10 (05): : 629 - 655
  • [2] KINEMATIC ANALYSIS OF A STEWART PLATFORM MANIPULATOR
    LIU, K
    FITZGERALD, JM
    LEWIS, FL
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1993, 40 (02) : 282 - 293
  • [3] Dynamics analysis of the stewart platform manipulator
    Liu, MJ
    Li, CX
    ISTM/99: 3RD INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, 1999, : 920 - 923
  • [4] Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator
    Guo, HB
    Li, HR
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2006, 220 (01) : 61 - 72
  • [5] Improved dynamic equations for the generally configured Stewart platform manipulator
    Pedrammehr, Siamak
    Mahboubkhah, Mehran
    Khani, Navid
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2012, 26 (03) : 711 - 721
  • [6] Improved dynamic equations for the generally configured Stewart platform manipulator
    Siamak Pedrammehr
    Mehran Mahboubkhah
    Navid Khani
    Journal of Mechanical Science and Technology, 2012, 26 : 711 - 721
  • [7] Dynamic (forward and inverse force transmission capability) analysis of the Stewart platform as robot manipulator
    Prajapati, Jagdish M.
    Patel, L. N.
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 2848 - 2853
  • [8] The Stewart platform manipulator: a review
    Dasgupta, B
    Mruthyunjaya, TS
    MECHANISM AND MACHINE THEORY, 2000, 35 (01) : 15 - 40
  • [9] Dynamics analysis of the Gough-Stewart platform manipulator
    Liu, MJ
    Li, CX
    Li, CN
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (01): : 94 - 98
  • [10] THE SINGULARITIES AND DYNAMICS OF A STEWART PLATFORM MANIPULATOR
    LIU, K
    LEWIS, F
    LEBRET, G
    TAYLOR, D
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1993, 8 (03) : 287 - 308
12345