DYNAMICS DECOMPOSITION FOR STEWART PLATFORMS

被引：23

作者：

JI, ZM

机构：

[1] Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ

来源：

JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 01期

关键词：

D O I：

10.1115/1.2919378

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper shows that special features of the Stewart platform can lead to the decomposition of the moving plate and the legs in the dynamic analysis. Formulas for evaluating, separately, the driving forces needed for the movement of the legs are developed for studying the combined inertia effect of all the leg rotations in a Stewart platform. The proposed formulation is easy to implement for Stewart platforms with nonnegligible leg inertia.

引用

页码：67 / 69

页数：3