Dynamic stability index and vibration analysis of a flexible Stewart platform

This article proposes a dynamic stability index of a flexible manipulator. The method is illustrated by considering the 6-UPS Stewart platform as an example. First, the analysis of dynamics and vibration of a 6-UPS Stewart platform is presented. The dynamic formulation follows the Newton–Euler approach. Leg stiffness, force and torque due to viscous friction at the joints, inertia and gravity effects are considered in the model. Finally, the response of the platform, subjected to base excitations at different frequencies, has been studied and the dynamic stability index developed has been validated.