Dynamics analysis and simulation of parallel robot Stewart platform

Author

Hajimirzaalian, Hamidreza ; Moosavi, Hasan ; Massah, Mehdi

Author_Institution

Dept. Mech. Eng., Azad Univ., Khomeinishahr, Iran

Volume

5

fYear

2010

fDate

26-28 Feb. 2010

Firstpage

472

Lastpage

477

Abstract

The novelty of the paper is the comparison between the inverse dynamic solution based on Lagrangian formulation and the direct dynamic solution of the Stewart platform by simulation with ADAMS commercial engineering package. In this paper, based on the inverse kinematics, the Jacobian matrix and the dynamic equations of the six-degree-of-freedom Stewart platform are derived. The Inertia matrix and Coriolis-Centrifugal terms which are essential for control analyzing of this robot are also obtained. Finally, the results of the analytical solution using Lagrange method for a specific movement path which is simulated by ADAMS are compared and verified.

Keywords

Jacobian matrices; control engineering computing; manipulator dynamics; manipulator kinematics; ADAMS commercial engineering package; Coriolis-Centrifugal term; Jacobian matrix; Lagrange method; Lagrangian formulation; direct dynamic solution; dynamic equation; dynamic simulation; dynamics analysis; inertia matrix; inverse dynamic solution; inverse kinematics; parallel robot Stewart platform; six-degree-of-freedom Stewart platfor; Analytical models; Couplings; Equations; Jacobian matrices; Lagrangian functions; Leg; Mechanical engineering; Packaging; Parallel robots; Robot kinematics; ADAMS; Dynamic equations; Lagrange; Simulation; Stewart platform;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-5585-0

Electronic_ISBN

978-1-4244-5586-7

Type

conf

DOI

10.1109/ICCAE.2010.5451249

Filename

5451249