Dynamic (Forward and Inverse Force Transmission Capability) Analysis of the Stewart Platform as Robot Manipulator

Author

Prajapati, Jagdish M. ; Patel, L.N.

Author_Institution

U. V. Patel Coll. of Eng., Vidyanagar

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2848

Lastpage

2853

Abstract

The Stewart platform plays a central role in the group of parallel spatial mechanisms. It is advantageous to use the Stewart platform as robot manipulator, when accuracy, dynamic performance and load carrying capacity are having paramount importance. This work represents the analytical approach for evaluating the forward and inverse force transmission capabilities of the Stewart platform when it is functioning as a robot manipulator. For the forward and inverse force transmission analysis two eigenvalue problems are formulated. The necessary conditions for the maximum force and torque, in forward force transmission analysis are investigated. The methodology applied for forward and inverse force transmission analysis is justified by taking numerical examples. Also the numerical algorithm of selecting actuator forces is presented.

Keywords

eigenvalues and eigenfunctions; force control; manipulator dynamics; torque control; Stewart platform; actuator forces; dynamic analysis; eigenvalue problems; forward force transmission capability; inverse force transmission capability; load carrying capacity; parallel spatial mechanisms; robot manipulator; Actuators; Educational institutions; Eigenvalues and eigenfunctions; End effectors; Jacobian matrices; Manipulator dynamics; Parallel robots; Robotics and automation; Torque; Vectors; The Stewart platform; forward and inverse force; robot manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4304011

Filename

4304011