Computation of Parallel Link Manipulator Dynamics

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

Research output: Contribution to journalArticlepeer-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 languageEnglish
Pages (from-to)218-224
Number of pages7
Journaltransactions of the japan society of mechanical engineers series c
Volume60
Issue number569
DOIs
Publication statusPublished - 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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