A Lagrangian formulation in terms of quasi-coordinates for the inverse dynamics of the general 6-6 Stewart platform manipulator

研究成果: 雜誌貢獻文章

13 引文 斯高帕斯(Scopus)

摘要

This paper presents a closed inverse dynamic formulation by the Lagrangian approach in terms of quasi-coordinates for the general 6-6 Stewart platform manipulator. It is shown that the symbolic computation using quasi-coordinates is most efficient as the structure undergoes finite rotations. The derived inverse dynamic equations are demonstrated to be well structured, straightforward, and suitable for computer programming. Numerical examples are finally carried out to validate the approach. Results of simulation are justified to be useful in the design and dynamic control of the manipulator.

原文英語
頁(從 - 到)1084-1090
頁數7
期刊JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
46
發行號3
DOIs
出版狀態已發佈 - 2003 九月 1

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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