Revisiting the inverse dynamics of the Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg and internal singularity

Abstract

This article discusses the dynamic modeling for control of Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg kinematics. Inverse dynamic model of these six degrees of freedom parallel manipulator robots is reviewed, while complete dynamics with true kinematics of universal–prismatic–spherical legs is compared with several models found in the literature. Most existing models have not taken into account some of the legs kinematical effects, namely the legs angular velocity around their axes and the internal singularities due to passive joints; some other used a simplified parameterization to describe the leg kinematics. Furthermore, some kinetic assumption can be used to reduce the computational burden. This article shows the effect of all these simplifications on the driving forces by simulating the different dynamic models for a commercial manipulator and for different sets of geometric and dynamic parameters of manipulator.

Dynamics of Parallel Robots

“…On the other hand, Newton-Euler equations have been used by Reboulet and Berthomieu (1991), Ji (1993), Gosselin (1993), Dasgupta and Choudhury (1999). However, recently, Fu et al (2007), Vakil et al (2008), Carricato and Gosselin (2009) and Afroun et al (2012) have pointed out common errors in many methods related to the kinematic behavior of the legs. These errors may cause kinematic and dynamic miscalculation.…”

Optimal design and verification of the 6-DOF Stewart structure used in vehicle-mounted automatic assembly

“…Journal of Physics: Conference Series 2591 (2023) 012010 previous literatures, the optimization targets were mainly about manipulability, condition numbers, dexterity and isotropy, which are not very practical in actual application [4,5]. Meanwhile, the accurate forward kinematic and dynamic solutions are still hard to achieve, let alone the interference analysis via mathematical method [6,7]. The optimal design and verification of a Stewart-type mechanism for vehicle-mounted automatic assembly are carried out in this paper.…”

Modeling and PDC fuzzy control of planar parallel robot

“…The virtual power P Ã r of the overall dynamic of the robot given by the equations 6 and 9 11,46 is first written with a dependent virtual velocity field ð _…”