Kinematic and dynamic analysis of Stewart platform-based machine tool structures

被引:134
作者
Harib, K [1 ]
Srinivasan, K
机构
[1] United Arab Emirates Univ, Dept Mech Engn, Al Ain, U Arab Emirates
[2] Ohio State Univ, Dept Mech Engn, Columbus, OH 43210 USA
关键词
Stewart platform; machine tools; kinematics and dynamics;
D O I
10.1017/S0263574703005046
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this paper, an analytical study of the kinematics and dynamics of Stewart platform-based machine tool structures is presented. The kinematic study includes the derivation of closed form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. An evaluation of a numerical iterative scheme for an on-line solution of the forward kinematic problem is also presented. Effects of different configurations of the unpowered joints on the angular velocities and accelerations of the links are considered. The Newton-Euler formulation is used to derive the rigid body dynamic equations. Inclusion of models for actuator dynamics and joint friction is discussed.
引用
收藏
页码:541 / 554
页数:14
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