Solution of inverse dynamics of Stewart–Gough platform using substructure technique

• Autorzy: Tien Tran Xuan , Cirkl David

Identyfikatory

DOI

10.15632/jtam-pl/136057

• Języki publikacji: EN

Abstrakty

EN

The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.

Słowa kluczowe

EN

inverse dynamics; Stewart-Gough platform; parallel manipulation; substructure technique

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2021
• Tom: Vol. 59 nr 3
• Strony: 329--342
• Opis fizyczny: Bibliogr. 18 poz., rys.

Twórcy

autor

Tien Tran Xuan

• Hung Yen University of Technology and Education, Hung Yen, Viet Nam

autor

Cirkl David

• Technical University of Liberec, Liberec, Czech Republic

Bibliografia

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Uwagi

„Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).”