Complete dynamic modeling of a Stewart platform using the generalized momentum approach

• Type: Chapter or Part of a Book
• Date: 2011

Authors

António Mendes Lopes (Author) FEUP; E. J. Solteiro Pires (Author) FEUP

Book

Title: Nonlinear Science and Complexity

1º Edition

Pages: 199-210

ISBN: 978-90-481-9883-2

Electronic ISBN: 978-90-481-9884-9

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 4 Citations

Scientific classification

FOS: Engineering and technology > Mechanical engineering

Other information

Authenticus ID: P-00G-0FZ

DOI: 10.1007/978-90-481-9884-9_25

Abstract (EN): Dynamic modeling is of great importance regarding computer simulation and advanced control of parallel manipulators. 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. © 2011 Springer Science+Business Media B.V.

Language: English

Type (Professor's evaluation): Scientific