Title :
Analyzing and Simulating the Inverse and the Direct Dynamics of Parallel Robot Stewart Platform
Author :
Hajimirzaalian, Hamidreza ; Moosavi, Hasan ; Massah, Mehdi
Author_Institution :
Branch of Khomeinishahr, Young Res. Club, Dept. Mech. Eng., Islamic Azad Univ., Khomeinishahr, Iran
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; manipulator dynamics; manipulator kinematics; ADAMS; Jacobian matrix; Lagrangian formulation; commercial engineering package; coriolis centrifugal terms; direct dynamics; inertia matrix; inverse kinematics; parallel robot stewart platform; Analytical models; Couplings; Equations; Inverse problems; Jacobian matrices; Kinematics; Lagrangian functions; Leg; Mechanical engineering; Parallel robots; ADAMS; Lagrange; Parallel robot; Simulation; Stewart platform;
Conference_Titel :
Computer and Network Technology (ICCNT), 2010 Second International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-0-7695-4042-9
Electronic_ISBN :
978-1-4244-6962-8
DOI :
10.1109/ICCNT.2010.84
