Dynamic modeling and experimental analyses of Stewart platform with flexible hinges

Jiao, Jian; Wu, Ying; Yu, Kaiping; Zhao, Rui

doi:10.1177/1077546318772474

Cited by 27 publications

(18 citation statements)

References 26 publications

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“…The spatial acceleration a^ of each link is the acceleration attached to the point that coincides with the reference coordinate frame. 16…”

Section: Kinematic Analysis Of Spmmentioning

confidence: 99%

“…4 Unlike serial manipulators, an explicit dynamic formulation of the SPM is much more complicated due to the closed kinematic chain. The literature on dynamic modeling of PMs mainly falls into four categories: Euler–Lagrange formulation, 5,6 Newton–Euler laws, 8,9 Kane method, 10–12 the principle of virtual work, 13–16 and Gibbs–Appell equations. 17,18…”

Section: Introductionmentioning

confidence: 99%

“…Jiao et al. 16 proposed a new dynamic model of the Stewart platform with flexible hinges using the Kane equation combined with the principle of virtual work.…”

Section: Introductionmentioning

confidence: 99%

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An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

Hou

Zhang

Zeng

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.

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“…The spatial acceleration a^ of each link is the acceleration attached to the point that coincides with the reference coordinate frame. 16…”

Section: Kinematic Analysis Of Spmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

Hou

Zhang

Zeng

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…A design procedure for multi-strut vibration isolation platform (VIP) [5] is the determination of optimal damping frequency of tree parameter isolator and isofrequency VIP design with natural frequencies tuned as the optimal damping frequency in three orthogonal directions. To obtain the favorable vibration performance, the dynamic model of the Stewart platform is constructed with flexible hinges [6] and coupled multiple flywheel system(MFS) [7], forming state-space equations for control purposes. To suppress the self-excited vibration owing to flexibility, friction, backlash, coupling, and other nonlinear factors, a nonlinear controller and a fuzzy control algorithm [8] are designed to attenuate the self-excited vibration for the 3-RRR flexible parallel robot.…”

Section: Introductionmentioning

confidence: 99%

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Guo

Wang

Yue

et al. 2020

Preprint

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Serving Stewart plat as wheel-legged construction, the most outstanding superiority of proposed wheel-legged hybrid robot (WLHR) is active vibration isolation during rolling on rugged terrain. This paper presents a force-driven control approach based on model predictive control (MPC) to design optimal control input for Stewart parallel wheel-leg that locomotes using swing foot trajectory. Adding adaptive impedance control in outermost loop, controlling framework prevents robot body horizontal and from vibration over rolling motion. Through dynamic model of Stewart mechanism, controller first creates predictive model by combining Newton-Euler equation, Newton-Raphson iteration of forward kinematic solving for current configuration, inverse kinematic calculation of Stewart obtaining desired joint position, and Gain/Integration module determining reference torque. With minimizing control deviation and input as objective function, a novel control optimization formulation generates optimum input for each control duration. These actuating force naturally enables each strut stretching and retracting used to realize six degree-of-freedom (6DOF) motion for Stewart wheel-leg. We exploit the variable-adapting method to reasonably adjust environmental impedance parameters by current position, velocity, force feedback of wheel-leg. This allow us to adequately acknowledge the desired support force tracking, isolating robot from isolation that is generated from unknown terrain. We demonstrate the validation of our control methodology on physical prototype by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strip. Respectively given PI controller and a sort of traditional impedance controller as comparison, a better performance of proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder, as well as IMU mounted on robot body.

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“…Stewart platform which is a parallel mechanism has been extensively studied due to its advantages over the serial mechanisms in terms of high stiffness and speed and heavy loading capability (Jiao et al, 2019; Pan and Gao, 2014; Wang et al, 2013). The Stewart platform and other parallel mechanisms with Stewart structure are widely used in environment simulators (Stewart, 1965), surgical robots (Kizir and Bingül, 2019; Kratchman et al, 2011), medical rehabilitation (Ayas and Altas, 2017; Girone et al, 2001), machine tools (Ramadan et al, 2009), industrial applications (Pierrot et al, 2009), vibration isolation (Gong et al, 2019; Huang et al, 2018), etc.…”

Section: Introductionmentioning

confidence: 99%

High order differential feedback controller design and implementation for a Stewart platform

Ayas

Şahin

Altaş

2019

Journal of Vibration and Control

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Stewart platform or other parallel manipulators with a Stewart structure are commonly used in flight simulators, surgical operations, medical rehabilitation processes, machine tools, industrial applications, etc. Therefore, researchers have paid attention to position control of these manipulators in addition to their design and development process. In this study, a developed Stewart platform and its inverse kinematic analysis are presented first. Then, a model-free control scheme called a high order differential feedback controller scheme is designed for the Stewart platform in order to improve its trajectory tracking performance and robustness against to different reference trajectories. Real-time trajectory tracking experiments with varied reference trajectories are carried out to show the robustness and effectiveness of the high order differential feedback controller scheme compared to the traditional proportional–integral–derivative controller of which the parameters are optimally tuned. The obtained visual trajectory tracking results and numerical performance results based on error-based performance measurement metrics such as integral of absolute error, integral of squared error, and integral of time-weighted absolute error are provided for both the proposed high order differential feedback controller scheme and the optimal tuned proportional–integral–derivative controller. Experimental results show that the proposed high order differential feedback controller scheme is more robust than the proportional–integral–derivative controller. Furthermore, the high order differential feedback controller scheme has superiority in both transient and steady-state responses and even the parameters of the proportional–integral–derivative controller are optimally tuned.

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Dynamic modeling and experimental analyses of Stewart platform with flexible hinges

Cited by 27 publications

References 26 publications

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

High order differential feedback controller design and implementation for a Stewart platform

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