Title :
Dynamics analysis and simulation of parallel robot Stewart platform
Author :
Hajimirzaalian, Hamidreza ; Moosavi, Hasan ; Massah, Mehdi
Author_Institution :
Dept. Mech. Eng., Azad Univ., Khomeinishahr, Iran
Abstract :
The novelty of the paper is the comparison between the inverse dynamic solution based on Lagrangian formulation and the direct dynamic solution of the Stewart platform by simulation with ADAMS commercial engineering package. In this paper, based on the inverse kinematics, the Jacobian matrix and the dynamic equations of the six-degree-of-freedom Stewart platform are derived. The Inertia matrix and Coriolis-Centrifugal terms which are essential for control analyzing of this robot are also obtained. Finally, the results of the analytical solution using Lagrange method for a specific movement path which is simulated by ADAMS are compared and verified.
Keywords :
Jacobian matrices; control engineering computing; manipulator dynamics; manipulator kinematics; ADAMS commercial engineering package; Coriolis-Centrifugal term; Jacobian matrix; Lagrange method; Lagrangian formulation; direct dynamic solution; dynamic equation; dynamic simulation; dynamics analysis; inertia matrix; inverse dynamic solution; inverse kinematics; parallel robot Stewart platform; six-degree-of-freedom Stewart platfor; Analytical models; Couplings; Equations; Jacobian matrices; Lagrangian functions; Leg; Mechanical engineering; Packaging; Parallel robots; Robot kinematics; ADAMS; Dynamic equations; Lagrange; Simulation; Stewart platform;
Conference_Titel :
Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-5585-0
Electronic_ISBN :
978-1-4244-5586-7
DOI :
10.1109/ICCAE.2010.5451249
