Full Dynamic Modeling of the General Stewart Platform Manipulator via Kane’s Method

被引：1
|
作者：
Farshid Asadi
S. Hossein Sadati
机构：
[1] K. N. Toosi University of Technology,Mechanical Engineering Faculty
来源：
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering | 2018年 / 42卷
关键词：
General Stewart platform; Kane’s method; Inverse dynamics; Computational cost; Friction;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Full dynamic modeling of the general Stewart platform manipulator is a complex task due to its closed-loop structure. In this paper, a complete model of inverse dynamics of the most general Stewart platform manipulator, without any simplification on dynamic properties of its components, is presented. It is noted that the equations obtained considering the comprehensive and detailed description of the Stewart system bear a computational burden considerably less than that from the more traditional methods of dynamic modeling, and this was indeed verified in the results obtained through simulations performed using the algorithm presented in this research.
引用
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页码：161 / 168
页数：7
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