Title :
Study of the effect of leg inertia in Stewart platforms
Author_Institution :
Dept. of Mech. & Ind. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291971
