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 |
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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 | |
Publication status | Published - 1994 |
Externally published | Yes |
Keywords
- Inverse Dynamics
- Parallel Link
- Robotics
- Simulation
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering