Dynamics of the 6-6 Stewart parallel manipulator

作者：Staicu Stefan^*

来源：Robotics and Computer-Integrated Manufacturing, 2011, 27(1): 212-220.

DOI：10.1016/j.rcim.2010.07.011

• Dynamics modelling
• Kinematics
• Lagrange equations
• Parallel mechanism
• Virtual work

Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart-Gough parallel manipulator having six mobile prismatic actuators are established in this paper Controlled by six forces the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform Knowing the position and the general motion of the platform we develop first the inverse kinematics problem and determine the position velocity and acceleration of each manipulator s link Further the inverse dynamics problem is solved using an approach based on the principle of virtual work but it has been verified the results in the framework of the Lagrange equations with t

• 出版日期2011-2