Journal ArticleDOI
Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work
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In this paper, a methodology for deriving the dynamical equations of motion of a Stewart-Gough manipulator based on virtual work and the concept of link Jacobian matrices is presented.Abstract:
This paper presents a systematic methodology for 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.read more
Citations
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Journal ArticleDOI
Dynamics of parallel manipulators by means of screw theory
TL;DR: In this paper, an approach based on the theory of screws and on the principle of virtual work is proposed to calculate the actuator forces as a function of the external applied forces and the imposed trajectory.
Journal ArticleDOI
Inverse and direct dynamic modeling of Gough-Stewart robots
Wisama Khalil,Sylvain Guegan +1 more
TL;DR: This paper presents closed-form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform.
Journal ArticleDOI
General Solution for the Dynamic Modeling of Parallel Robots
Wisama Khalil,O. Ibrahim +1 more
TL;DR: A general method to calculate the inverse and direct dynamic models of parallel robots in a closed form by a single equation in which all the elements needed are expressed.
Journal ArticleDOI
Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
Houssem Abdellatif,Bodo Heimann +1 more
TL;DR: In this article, the Lagrangian formalism is used to derive the dynamics of an open-loop manipulator with respect to a set of generalized coordinates and velocities, and the principle of energy equivalence is derived to join the different equations of motion.
Journal ArticleDOI
A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments
TL;DR: Some modifications to the well-known Cartesian space control strategies of serial robotics are proposed to make them perfectly suited to parallel kinematic machines, particularly a solution using an exteroceptive measure of the end-effector pose.
References
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Book
Fundamentals of Robotic Mechanical Systems
TL;DR: This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks and aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based.
Journal ArticleDOI
Dynamic analysis and control of a Stewart platform manipulator
TL;DR: The dynamic equations of the Stewart platform manipulator are studied to make the milling station into a semiautonomous robotic tool needing some operator interaction but having some intelligence of its own.
Journal ArticleDOI
A New Approach for the Dynamic Analysis of Parallel Manipulators
Jiegao Wang,Clément Gosselin +1 more
TL;DR: The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.
Journal ArticleDOI
Inverse dynamic analysis and simulation of a platform type of robot
W. Q. D. Do,D. C. H. Yang +1 more
TL;DR: It is found that the inverse dynamics of the system is governed by thirty-six linear equations, and the number of these simultaneous equations can be reduced to six, if a proper sequence is taken.