ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform

Abstract

The mechanical structure known as Stewart-Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart-Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart-Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart-Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart-Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart-Gough platform-based robots applications.

Co-Simulation and Control of a Single-Wheel Pendulum Mobile Robot

“…[24,[28][29][30], and the use of these computational tools has proved the advantages mentioned earlier as pointed out in Ref. [27].…”

“…Cosimulation has been applied in the design and analysis of robotic manipulators like in Refs. [23,[25][26][27] and mobile robots like in Refs. [24,[28][29][30], and the use of these computational tools has proved the advantages mentioned earlier as pointed out in Ref.…”

Kinematics/Dynamics Analysis with ADAMS/MATLAB Co-simulation of a SolidWorks Designed Spatial Robot Arm with Control and Validation of Results

“…1 SolidWorks designed three-links robot manipulator, and same designed model is exported ADAMS kinematically and dynamically [3]. The advantage of co-simulation is that it provides a virtual environment for analysis purpose, and it does do not require any type of dynamics equation or modelling of system [4]. That's makes it easy and effective for dynamics analysis, and its results are comparable with any numerical and analytical method for validation.…”

Analysis and control for a new reconfigurable parallel mechanism

“…And the trajectory of the end-effector is tracked by using a fuzzy-PID controller. To build the control system, MATLAB Simscape Multibody Toolbox and ADAMS-MATLAB co-simulation 45,46 are becoming the useful tool. In the fourth section, the control system is built using Simscape Multibody Toolbox, whereas the ADAMS-MATLAB co-simulation approach is used to build the closed-loop system in the Online Appendix.…”