Title :
Dynamic modeling of flexure jointed hexapods for control purposes
Author :
McInroy, John E.
Author_Institution :
Dept. of Electr. Eng., Wyoming Univ., Laramie, WY, USA
Abstract :
A number of researchers have been investigating the use of Stewart platforms (or hexapods) for precision applications. This paper presents a new dynamic model suitable for control of flexure jointed hexapods. Novel contributions include: 1) base acceleration inputs are included; 2) the dynamic model is experimentally verified; 3) the model is developed so that it is suitable for control, and 4) a decoupled force control is derived
Keywords :
control system synthesis; finite element analysis; force control; manipulator dynamics; Stewart platforms; dynamic model; dynamic modeling; finite element analysis; flexure jointed hexapods; force control; Acceleration; Actuators; Ear; Force control; Force feedback; Friction; Joining materials; Machining; Payloads; Springs;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806694
