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An improved solution to the inverse dynamics of the general Stewart platform

conference contribution
posted on 2011-09-02, 00:00 authored by Siamak Pedrammehr, M Mahboubkhah, S Pakzad
This research presents an improved solution to the inverse kinematics and dynamics of the general Stewart platform. The dynamic equations are generated through Newton-Euler approach. There have been a number of previous researches on this subject, but most of them consisted of some simplifying approximations which facilitate the formulation. Considering the creativity of the Newton-Euler method in the previous research works, using the intact assumptions results in more accurate formulation from a theoretical point; therefore, the authors intend to present the improved dynamic equations of Stewart platform using the kinematic model of the universal joint. The rotational degree of freedom of the pods around the axial direction has been taken into account in the new formulation. The dynamic equations and the findings of the new formulation are fundamentally different compared to the previous ones. © 2011 IEEE.

History

Event

Mechatronics. International Conference (2011 : Istanbul, Turkey)

Pagination

392 - 397

Publisher

IEEE

Location

Istanbul, Turkey

Place of publication

Piscataway, N.J.

Start date

2011-04-13

End date

2011-04-15

ISBN-13

9781612849836

Language

eng

Publication classification

EN.1 Other conference paper

Copyright notice

2011, IEEE

Title of proceedings

2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

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