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Abstract

This article presents the explicit compact closed-form dynamic equations in the task-space by applying the combination of the Newton—Euler method with the Lagrange formulation including the dynamics of the legs for the Stewart platform manipulator. The kinematics analysis of the manipulator is given and the velocity and the acceleration formulae needed to derive the dynamic equations are also derived. The driving forces acting on the legs are determined according to the dynamic formulation. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a specific Stewart platform manipulator. Simulation results reveal the effect of the leg inertia and that of its parts, respectively, on the dynamics of the complete system, and numerical examples show the effectiveness of the proposed method and the dynamic equations of the Stewart platform manipulator.

Keywords

Stewart platform manipulator kinematics analysis dynamic formulation Newton—Euler method Lagrange formulation

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Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator

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