- Tytuł:
- Solution of inverse dynamics of Stewart–Gough platform using substructure technique
- Autorzy:
-
Tien, Tran Xuan
Cirkl, David - Powiązania:
- https://bibliotekanauki.pl/articles/1839683.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
- Tematy:
-
inverse dynamics
Stewart-Gough platform
parallel manipulation
substructure technique - Opis:
- The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.
- Źródło:
-
Journal of Theoretical and Applied Mechanics; 2021, 59, 3; 329-342
1429-2955 - Pojawia się w:
- Journal of Theoretical and Applied Mechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł