Computation of Parallel Link Manipulator Dynamics

Kazuhiro Kosuge; Kouji Takeo; Toshio Fukuda; Katsumi Kai; Tomo Mizuno; Hiroaki Tomimatsu

doi:10.1299/kikaic.60.218

Computation of Parallel Link Manipulator Dynamics

Kazuhiro Kosuge, Kouji Takeo, Toshio Fukuda, Katsumi Kai, Tomo Mizuno, Hiroaki Tomimatsu

ENG - Robotics

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method.

Original language	English
Pages (from-to)	218-224
Number of pages	7
Journal	transactions of the japan society of mechanical engineers series c
Volume	60
Issue number	569
DOIs	https://doi.org/10.1299/kikaic.60.218
Publication status	Published - 1994

Keywords

Inverse Dynamics
Parallel Link
Robotics
Simulation

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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title = "Computation of Parallel Link Manipulator Dynamics",

abstract = "This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method.",

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T1 - Computation of Parallel Link Manipulator Dynamics

AU - Kosuge, Kazuhiro

AU - Takeo, Kouji

AU - Fukuda, Toshio

AU - Kai, Katsumi

AU - Mizuno, Tomo

AU - Tomimatsu, Hiroaki

PY - 1994

Y1 - 1994

N2 - This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method.

AB - This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method.

KW - Inverse Dynamics

KW - Parallel Link

KW - Robotics

KW - Simulation

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