Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach

This paper addresses the question of dynamic formulation of the six-degrees-of-freedom parallel manipulator known as the Stewart platform. Dynamic equations for the two widely used kinematic structures of the Stewart platform manipulator are derived in closed form through the Newton-Euler approach. The Newton-Euler approach, which is mostly used for inverse dynamics alone in the case of serial manipulators is seen to have an advantage in the case of parallel manipulators for the derivation of closed-form dynamic equations as well. The dynamic equations derived are implemented for forward dynamics of the Stewart platform and some simulation results are also presented. (C) 1998 Elsevier Science Ltd. All rights reserved.