NDLI: Improved dynamic equations for the generally configured Stewart platform manipulator

Content Provider	Springer Nature Link
Author	Pedrammehr, Siamak Mahboubkhah, Mehran Khani, Navid
Copyright Year	2012
Abstract	In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware.
Starting Page	711
Ending Page	721
Page Count	11
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	26
Issue Number	3
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2012-03-29
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Dynamic equations Newton-Euler approach Stewart platform Industrial and Production Engineering Mechanical Engineering Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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