Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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A New Dynamic Analysis of 6-3 Stewart Platform Manipulator

6-3 스튜워트 플랫폼 운동장치의 운동방정식 해석

  • 김낙인 (대우종합기계중앙연구소) ;
  • 이종원 (한국과학기술원 기계공학과 소음 및 진동제어센터)
  • Published : 2001.11.01
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Abstract

The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.

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References

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