Dynamic modeling of a Stewart platform using the generalized momentum approach

• Type: Article in International Scientific Journal
• Date: 2009

Authors

lopes, am (Author) FEUP

Journal

Title: Communications in Nonlinear Science and Numerical Simulation

Vol. 14 No. 8

Pages: 3389-3401

ISSN: 1007-5704

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 45 Citations

ISI Web of Science

Scopus - 54 Citations

INSPEC

COMPENDEX

Scientific classification

FOS: Humanities > Languages and Literature

Other information

Authenticus ID: P-003-GXT

DOI: 10.1016/j.cnsns.2009.01.001

Abstract (EN): Dynamic modeling of parallel manipulators presents an inherent Complexity. mainly due to system closed-loop structure and kinematic constraints. In this paper. an approach based on the manipulator generalized momentum is explored and applied to the dynamic modeling of a Stewart platform. The generalized momentum is used to compute the kinetic component of the generalized force acting on each manipulator rigid body. Analytic expressions for the rigid bodies inertia and Coriolis and centripetal terms matrices are obtained, which can be added, as they are expressed in the same frame. Gravitational part of the generalized force is obtained using the manipulator potential energy. The computational load of the dynamic model is evaluated, measured by the number of arithmetic operations involved in the computation of the inertia and Coriolis and centripetal terms matrices. It is shown the model obtained using the proposed approach presents a low computational load. This could be an important advantage if fast simulation or model-based real-time control are envisaged.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13