Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work-Reference-Cited by-同舟云学术

Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work

Published:1999-12-01 Issue:1 Volume:122 Page:3-9
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Tsai Lung-Wen¹

Affiliation:

1. Department of Mechanical Engineering, and Institute for Systems Research, University of Maryland, College Park, MD 20742

Abstract

This paper presents a systematic methodology for solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of six linear equations in six unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated. [S1050-0472(00)00401-3]

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/122/1/3/5797327/3_1.pdf

Reference22 articles.

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