Dynamic (Forward and Inverse Force Transmission Capability) Analysis of the Stewart Platform as Robot Manipulator
Dynamic (Forward and Inverse Force Transmission Capability) Analysis of the Stewart Platform as Robot Manipulator
复制标题
DOI：
10.1109/icma.2007.4304011
复制
发表时间：
2007-09
期刊：
影响因子：
--
通讯作者：
J. Prajapati;L. N. Patel
中科院分区：
文献类型：
--
作者：
J. Prajapati;L. N. Patel
Stewart平台在空间并联机构中占有核心地位。当精度、动态性能和承载能力至关重要时，使用Stewart平台作为机器人操作器是有利的。这项工作代表的分析方法，用于评估的前向和反向力传递能力的Stewart平台时，它是作为一个机器人操作器。对于正、逆力传递分析，提出了两个特征值问题。研究了前向力传递分析中最大力和最大力矩的必要条件。通过数值算例验证了正、逆力传递分析方法的正确性。同时给出了选择驱动力的数值算法。
The Stewart platform plays a central role in the group of parallel spatial mechanisms. It is advantageous to use the Stewart platform as robot manipulator, when accuracy, dynamic performance and load carrying capacity are having paramount importance. This work represents the analytical approach for evaluating the forward and inverse force transmission capabilities of the Stewart platform when it is functioning as a robot manipulator. For the forward and inverse force transmission analysis two eigenvalue problems are formulated. The necessary conditions for the maximum force and torque, in forward force transmission analysis are investigated. The methodology applied for forward and inverse force transmission analysis is justified by taking numerical examples. Also the numerical algorithm of selecting actuator forces is presented.