A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

DasGupta, Bhaskar; Mruthyunjaya, T.S.

doi:10.1016/s0094-114x(97)00118-3

Cited by 398 publications

(197 citation statements)

References 7 publications

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“…Although a couple of useful methods have been available for the force analysis of parallel mechanisms, the Newton-Euler method [3][4][5][6][7], the virtual work principle [8][9][10][11][12][13], and the screw theory method [14][15][16][17], for example, it is important to note, however, that the GTRM operates under the constraints of rocky surroundings. Because of this very special working condition, the translational movements normal to the cutterhead's axis are uncontrollable.…”

Section: Introductionmentioning

confidence: 99%

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Huang

Wang

Liu

et al. 2016

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Huang

Wang

Liu

et al. 2016

Mechanism and Machine Theory

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“…When the base platform vibrates with wind-induced cablecar, the vibrations of the stabilized platform can be alleviated by adjusting the six actuators with appropriate control laws. Most of the available studies on dynamics and control of Stewart platform (Geng et al, 1992;Lebret et al, 1993;Dasgupta and Mruthyunjaya, 1998;Liu et al, 2000;Gallardo et al, 2003;Mukherjee et al, 2007;Lopes, 2009;Li et al, 2012) deals with the case that the base platforms are fixed but for this application the dynamics and control of the mechanism are different from the available analyses.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Alam

Akhlaq

Rahman

2015

Lat. Am. j. solids struct.

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In this paper, modelling and simulation of a multi-body system for its vibration control using sensors and actuators is presented. The model developed on MSC ADAMS consists of six legs connecting moving and base plates using spherical joints with axial rotation of legs constrained. It contains linear actuator collocated with force sensor. Mathematical model of the mechanism representing the Kinematic and Dynamic analysis of model is presented. The Leg Length variation obtained using MATLAB is obtained in order to validate the model developed in MSC ADAMS. Natural frequencies for six different mode shapes are obtained from vibration excitation analysis. A decentralized force feedback controller which uses PID control law with single gain is used for actively attenuating the vibration, which is coming from base platform. The transfer function, defined as the ratio of Laplace transformation of the acceleration of moving plate and base plate, is considered as a measure of isolation. Effect of proportional, derivative and integral feedback is studied separately and together as well. A significant isolation in the resonance transmissibility and natural frequency of the mechanism is demonstrated.

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“…Such peculiarity often complicates the computation of the dynamic model and sometimes prevents the use of model based controls. This inherent complexity is the main reason why only few dynamic models of parallel robots are presently available in scientific literature in symbolic form (Dasgupta and Mruthyunjaya, 1998;Tsai, 2000;Caccavale et al, 2003).…”

Section: Introductionmentioning

confidence: 99%

Dynamic modelling of a 3-CPU parallel robot via screw theory

et al. 2013

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Abstract. The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.

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A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

Cited by 398 publications

References 7 publications

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Dynamic modelling of a 3-CPU parallel robot via screw theory

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