Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator

Abstract This article presents the explicit compact closed-form dynamic equations in the task-space by applying the combination of the Newton—Euler method with the Lagrange formulation including the dynamics of the legs for the Stewart platform manipulator. The kinematics analysis of the manipulator is given and the velocity and the acceleration formulae needed to derive the dynamic equations are also derived. The driving forces acting on the legs are determined according to the dynamic formulation. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a specific Stewart platform manipulator. Simulation results reveal the effect of the leg inertia and that of its parts, respectively, on the dynamics of the complete system, and numerical examples show the effectiveness of the proposed method and the dynamic equations of the Stewart platform manipulator.

[1]  Dasgupta Bhaskar,et al.  A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator , 1998 .

[2]  Chul-Goo Kang.  Closed-form force sensing of a 6-axis force transducer based on the Stewart platform , 2001 .

[3]  Leonard Meirovitch,et al.  Methods of analytical dynamics , 1970 .

[4]  Clément Gosselin,et al.  A New Approach for the Dynamic Analysis of Parallel Manipulators , 1998 .

[5]  Yung Ting,et al.  Modeling and Control for a Gough-Stewart Platform CNC Machine , 2004, ICRA.

[6]  M. Bergamasco,et al.  Dynamics of parallel manipulators by means of screw theory , 2003 .

[7]  L. Tsai.  Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work , 2000 .

[8]  Kazuhiro Kosuge,et al.  Input/output force analysis of Stewart platform type of manipulators , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[9]  Frank L. Lewis,et al.  Dynamic analysis and control of a stewart platform manipulator , 1993, J. Field Robotics.

[10]  Zhiming Ji,et al.  Dynamics Decomposition for Stewart Platforms , 1994 .

[11]  Parviz E. Nikravesh,et al.  Computer-aided analysis of mechanical systems , 1988 .

[12]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[13]  Charles C. Nguyen,et al.  Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems , 1989, Robotics Auton. Syst..

[14]  James D. Lee,et al.  A dynamic model of a flexible stewart platform , 1993 .

[15]  Min-Jie Liu,et al.  Dynamics analysis of the Gough-Stewart platform manipulator , 2000, IEEE Trans. Robotics Autom..