DocumentCode
1863776
Title
Study of the effect of leg inertia in Stewart platforms
Author
Ji, Zhiming
Author_Institution
Dept. of Mech. & Ind. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
121
Abstract
The inertia effect of all the leg rotations in a Stewart platform is studied. The dynamics of the legs are decoupled from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. Dynamic mobile simulation based on the decoupled dynamics formulation is discussed
Keywords
robots; Stewart platforms; dynamic motion simulation; leg dynamics decoupling; leg inertia; leg rotations; Algebra; Computational modeling; Equations; Industrial engineering; Jacobian matrices; Lagrangian functions; Leg; Mobile computing; Robot kinematics; Tree data structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291971
Filename
291971
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