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
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