Dynamics analysis of the Gough-Stewart platform manipulator

被引：149

作者：

Liu, MJ ^{[1
]}

Li, CX ^{[1
]}

Li, CN ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Shanghai 200030, Peoples R China

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 01期

关键词：

dynamic equations; Gough-Stewart platform; Kane's equation; simulation;

D O I：

10.1109/70.833196

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel derivation of the forward dynamic equations for the Gough-Stewart platform manipulator based on Kane's equation is proposed in this paper. In this method, each leg of the Gough-Stewart platform manipulator is treated as 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 this paper is more straightforward and systematic, and the final dynamic equations are very concise.

引用

页码：94 / 98

页数：5

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