Dynamic stability index and vibration analysis of a flexible Stewart platform
Dynamic stability index and vibration analysis of a flexible Stewart platform
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DOI：
10.1016/j.jsv.2007.05.036
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发表时间：
2007-11
影响因子：
4.7
通讯作者：
Parthajit Mukherjee;B. Dasgupta;A. Mallik
中科院分区：
文献类型：
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作者：
Parthajit Mukherjee;B. Dasgupta;A. Mallik
提出了一种柔性机械臂的动力学稳定性指标。以6-UPS Stewart平台为例说明了该方法。首先，对6-UPS Stewart平台进行了动力学和振动分析。动力学公式遵循牛顿-欧拉方法。模型中考虑了腿刚度、关节处粘性摩擦力和力矩、惯性和重力效应。最后，研究了平台在不同频率的基础激励下的响应，并验证了所提出的动力稳定性指标。
This article proposes a dynamic stability index of a flexible manipulator. The method is illustrated by considering the 6-UPS Stewart platform as an example. First, the analysis of dynamics and vibration of a 6-UPS Stewart platform is presented. The dynamic formulation follows the Newton–Euler approach. Leg stiffness, force and torque due to viscous friction at the joints, inertia and gravity effects are considered in the model. Finally, the response of the platform, subjected to base excitations at different frequencies, has been studied and the dynamic stability index developed has been validated.