{"title":"Analyzing and Simulating the Inverse and the Direct Dynamics of Parallel Robot Stewart Platform","authors":"Hamidreza Hajimirzaalian, H. Moosavi, M. Massah","doi":"10.1109/ICCNT.2010.84","DOIUrl":null,"url":null,"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.","PeriodicalId":135847,"journal":{"name":"2010 Second International Conference on Computer and Network Technology","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2010-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 Second International Conference on Computer and Network Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCNT.2010.84","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
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.
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