Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work

DOI10.1007/S11071-015-2489-ZMaRDI QIDQ335767zbMATH OpenOpenAlexFDO

Authors Hadi Kalani, Alireza Akbarzadeh, A. S. Rezaei

Publication date 2 November 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-015-2489-z

zbMATH Keywords

direct dynamic analysislink Jacobian matrixmodified hybrid strategyprinciple of virtual work

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Neural networks for/in biological studies, artificial life and related topics (92B20) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
• A third-order Newton-type method to solve systems of nonlinear equations
• Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism
• Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach.
• Closed-form forward kinematics for a symmetrical 6-6 Stewart platform using algebraic elimination
• Comments on ``A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator by B. Dasgupta and T.S. Mruthyunjaya
• Direct displacement analysis of a Stewart platform mechanism.
• Dynamic analysis and control of a stewart platform manipulator
• Dynamics of Multibody Systems Using Virtual Work and Symbolic Programming
• Dynamics of parallel manipulators by means of screw theory.
• Forward kinematics of the general 6-6 Stewart platform using algebraic elimination
• Inverse dynamic analysis and simulation of a platform type of robot
• Modeling and control for a Gough‐Stewart platform CNC machine
• Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design
• The Stewart platform manipulator: a review

Cited in

(5)

• Dynamic modeling of a class of parallel-serial mechanisms by the principle of virtual work
• Dynamics analysis, offline-online tuning and identification of base inertia parameters for the 3-DOF delta parallel robot under insufficient excitations
• Design of Neural Network-Based Adaptive Inverse Dynamics Controller for Motion Control of Stewart Platform
• An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method
• A mathematical model for the use of a Gough-Stewart platform mechanism as a fixator

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