Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work

被引：321

作者：

Tsai, LW ^{[1
]}

机构：

[1] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA

来源：

JOURNAL OF MECHANICAL DESIGN | 2000年 / 122卷 / 01期

关键词：

dynamics; Stewart; Gough; parallel manipulator; virtual work;

D O I：

10.1115/1.533540

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a systematic methodology Sor solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of six linear equations in six unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated. [S1050-0472(00)00401-3].

引用

页码：3 / 9

页数：7

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