Inverse dynamic analysis and simulation of a platform type of robot

Abstract

This article presents an algorithm to solve the inverse dynamics for platform type of manipulators using Newton‐Euler equations of motion. We found that the inverse dynamics of the system is governed by thirty‐six linear equations. The number of these simultaneous equations can be reduced to six, if a proper sequence is taken. The relationships between the actuating forces and the shape of the structure are analyzed. Based on the algorithm, computer code for simulation was developed. Three cases were studied. As a result, configurations which minimize the actuating forces are suggested. It is also found that the fluctuation of the driving forces is lesser when the path is closer to the center of the base. These results are believed to be useful in the design and control of this type of manipulating devices.

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

“…By slight extension of this force transformation, Fichter [3] incorporated the gravity and dynamic forces on the platform and formulated the inverse dynamics of Stewart platform with massless legs and frictionless joints. Do and Yang [4] solved the inverse dynamics of the Stewart platform by Newton±Euler method assuming the joints as frictionless and legs as symmetrical and thin (i.e. the centre of gravity of a leg lies on its axis and axial moment of inertia is negligible).…”

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

“…Here, an inertial coordinate system N-frame, N In studying the optimal architecture of a reconfigurable parallel robot for maximum dynamic wrench capability, an appropriate inverse dynamics form is required. In comparing with other formatting algorithms for the dynamic equations of parallel robots, several methods such as the Newton-Euler formulation [12][13][14], virtual work principle [15,16], Kane's method [17], kinematic influence coefficient theory [18], screw theory [19], and the Lagrangian formulation in generalized coordinates [20][21][22] are proposed to model and simulate the dynamics of parallel manipulators. However, these expressions are not structured enough, and are not appropriate for the dynamic wrench capability analysis.…”

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

“…The traditional Newton-Euler formulation, which has been widely used in the past (Do and Yang, 1988;Dasgupta and Mruthyunjaya, 1998) and is still used for specific tasks by some researchers (Kunquan and Rui, 2011;Khalil and Ibrahim, 2007), hardly adapts to the particular case of parallel kinematics machines.…”