Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work
Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work
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DOI：
10.1115/1.533540
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发表时间：
2000-03-01
影响因子：
3.3
通讯作者：
Tsai, LW
中科院分区：
文献类型：
--
作者：
Tsai, LW
本文提出了一种求解Stewart-Gough机械手逆动力学的系统方法。基于虚功原理和连杆雅可比矩阵的概念，提出了一种推导动力学运动方程的方法。结果表明，机械手的动力学可归结为求解六元六元线性方程组。给出了求解机械手逆动力学的计算算法，并对几种运动平台的运动轨迹进行了仿真。[S10500472(00)00401-3]。
This paper presents a systematic methodology Sor solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of six linear equations in six unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated. [S1050-0472(00)00401-3].