Dynamic models of a six degree of freedom parallel manipulators

Reboulet, C.; Berthomieu, T.

doi:10.1109/icar.1991.240400

Cited by 51 publications

(26 citation statements)

References 4 publications

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“…Since these two methods come from the general theory of mechanics, they can also be applied to parallel robots. The Newton-Euler formulation has already been used by [12] to derive some dynamics of the Stewart platform. This study and the associated results are not straightforward.…”

Section: Dynamics Of the Stewart Platformmentioning

confidence: 99%

The singularities and dynamics of a Stewart platform manipulator

Lewis

Lebret

et al. 1993

J Intell Robot Syst

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International audienceThe Stewart platform manipulator is a fully parallel kinematic linkage system that has major mechanical differences over typical serial link robots. Its closed kinematic chain and parallel linkage structure give it great rigidity and a high force-to-weight ratio. In this paper, based on the forward and inverse kinematic analysis, the Jacobian matrix and the dynamic equations of the six-degree-of-freedom Stewart platform are derived. The singularities of the Stewart platform are also studied. Four singular positions are proved and some other conditions under which the possible singular positions may occur are given. These results provide us with the necessary information to avoid passing through singular points. The dynamic equations in Cartesian space appear in a very simple form. Especially in some applications if there is no rotation about the fixed X-axis, then the ‘inertia matrix’ reduces to a constant, diagonal matrix and the ‘Coriolis and centrifugal matrix’ goes to zero, which makes the Stewart platform become a decoupled, linear system in Cartesian space

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Section: Dynamics Of the Stewart Platformmentioning

confidence: 99%

The singularities and dynamics of a Stewart platform manipulator

Lewis

Lebret

et al. 1993

J Intell Robot Syst

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“…The principle of Hamilton was used in the dynamic modeling by [35]. On the other hand, Newton-Euler equations have been used by [40,38,19,15,16,9,10,11,23]. This paper presents a simple and general closed form solution for the inverse and direct dynamic models of parallel robots.…”

Section: Introductionmentioning

confidence: 99%

General Solution for the Dynamic Modeling of Parallel Robots

Khalil

Ibrahim

2007

J Intell Robot Syst

118

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Abstract. In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures.

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“…The Newton-Euler equation is applied to each single body and all forces and torques acting on it are obtained. Do and Yang, and Reboulet and Berthomieu use this method on the dynamic modelling of a Stewart platform (Do & Yang, 1988;Reboulet & Berthomieu, 1991). They achieve their result introducing some simplifications on the legs models.…”

Section: Introductionmentioning

confidence: 99%