Dynamics analysis of the Gough-Stewart platform manipulator

Author

Liu, Min-Jie ; Li, Cong-Xin ; Li, Chong-Ni

Author_Institution

Shanghai Jiaotong Univ., China

Volume

16

Issue

1

fYear

2000

fDate

2/1/2000 12:00:00 AM

Firstpage

94

Lastpage

98

Abstract

A novel derivation of the forward dynamic equations for the Gough-Stewart platform manipulator based on Kane´s equation is proposed. In this method, each leg of the Gough-Stewart platform manipulator is treated as an independent substructure, the system dynamic equations are composed of the equations of legs and platform according to the constraints among substructures. The formulation has been implemented in MATLAB routines, and simulation results have been given to show the validation of the new approach. Compared with the traditional Newton-Euler method and Lagrange formulation, the modeling process proposed in the paper is more straightforward and systematic, and the final dynamic equations are very concise

Keywords

Jacobian matrices; angular velocity; manipulator dynamics; Gough-Stewart platform manipulator; Kane´s equation; Lagrange formulation; MATLAB routines; dynamic equations; dynamics analysis; traditional Newton-Euler method; Acceleration; Angular velocity; Computational modeling; Equations; Lagrangian functions; Leg; MATLAB; Manipulator dynamics; Mathematical model; Robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.833196

Filename

833196