Improved dynamic equations for the generally configured Stewart platform manipulator
By Siamak Pedrammehr, Mehran Mahboubkhah, N. Khani. 2012
60 citations recorded by the source corpus.
In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware.
Subfields: Computer Vision and Pattern Recognition, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/50522611f36ed7d4567474db796f83d705e5132d
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In Computer Vision and Pattern Recognition
In Control and Systems Engineering
Citations in the corpus
- Improved general solution for the dynamic modeling of Gough–Stewart platform based on principle of virtual work (2016, methodology): “Several approaches have been employed to solve inverse dynamic of Gough– Stewart robot including the Newton–Euler laws [5–9], the Euler–Lagrange formulation [10–14] and the principle of the virtualwork [15,16].”