Analyzing and Simulating the Inverse and the Direct Dynamics of Parallel Robot Stewart Platform

Author

Hajimirzaalian, Hamidreza ; Moosavi, Hasan ; Massah, Mehdi

Author_Institution

Branch of Khomeinishahr, Young Res. Club, Dept. Mech. Eng., Islamic Azad Univ., Khomeinishahr, Iran

fYear

2010

fDate

23-25 April 2010

Firstpage

136

Lastpage

141

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; manipulator dynamics; manipulator kinematics; ADAMS; Jacobian matrix; Lagrangian formulation; commercial engineering package; coriolis centrifugal terms; direct dynamics; inertia matrix; inverse kinematics; parallel robot stewart platform; Analytical models; Couplings; Equations; Inverse problems; Jacobian matrices; Kinematics; Lagrangian functions; Leg; Mechanical engineering; Parallel robots; ADAMS; Lagrange; Parallel robot; Simulation; Stewart platform;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Network Technology (ICCNT), 2010 Second International Conference on

Conference_Location

Bangkok

Print_ISBN

978-0-7695-4042-9

Electronic_ISBN

978-1-4244-6962-8

Type

conf

DOI

10.1109/ICCNT.2010.84

Filename

5474519