Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work

By Lung-Wen Tsai. 2000

421 citations recorded by the source corpus.

Subfields: Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/7b177e3965660e56a556cc0bf4abc84dfc3054b9

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In Computer Vision and Pattern Recognition

In Control and Systems Engineering

Citations in the corpus

Dynamics of parallel manipulators by means of screw theory (2003, methodology): “Recently the inverse dynamics of a Gough–Stewart platform has been significantly simplified by means of the principle of virtual work [7,9].”
Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws (2013, neutral): “Motivated by the applications, various researches have been taken to investigate the basic theories of parallel mechanisms to solve the kinematics [10,11], dynamics [12], workspace [13], optimization [14] and synthesis [15,16] of novel structures.”
Dynamic formulation and performance evaluation of the redundant parallel manipulator (2009, methodology): “The dynamical equations of the redundant parallel manipulator have been formulated by mean of the principle of virtual work and the concept of link Jacobian matrices [2,56].”
Improved general solution for the dynamic modeling of Gough–Stewart platform based on principle of virtual work (2016, methodology): “Therefore, we can claim that the statement of F ωLeg,i = (F i q̂ac i × F vSi ) /qac i commonly used in previous literature [15] is not always right.”
A novel dynamic modelling approach for parallel mechanisms analysis (2008, background): “Meanwhile, quite a few special approaches have been conducted for dynamic modelling of specific parallel mechanisms configurations [18–22].”
Improved dynamic equations for the generally configured Stewart platform manipulator (2012, methodology): “In the literature of the kinematics and dynamics of the parallel manipulation, several approaches have been used according to the classical mechanics principles such as: the principle of virtual work [2-5], Kane’s method [6, 7] momentum approach [8, 9], Hamilton’s principle [10], screw theory [11] a”