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Explicit dynamics formulation of Stewart-Gough platform: A Newton-Euler approach

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages2772-2777
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Publication typeA4 Article in a conference publication
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Oct 2010

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period18/10/1022/10/10

Abstract

Dynamic analysis of parallel manipulators plays a vital role in the design and control of such manipulators. Closed-chain kinematic structure affects the dynamics formulations by several constraints. Therefore, especially for higher degrees of freedom manipulators, manipulation of implicit and bulky dynamics formulation looses the tractability of the analysis. In this paper, a methodology and some simplification tools are introduced to achieve explicit dynamics formulation for parallel manipulators. This methodology is applied for the dynamics analysis of the most celebrated parallel manipulator, namely Stewart-Gough platform. By avoiding any recursive or component-wise derivations, the resulting dynamics formulation provides more insight for designers, and can be much easier used in any model-based control of such manipulators. In order to verify the resulting dynamics equations, Lagrange method is used to derive and compare the manipulator mass matrix. This methodology can be further used to formulate the explicit dynamics of other parallel manipulators.