Study of the effect of leg inertia in Stewart platforms
Study of the effect of leg inertia in Stewart platforms
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DOI：
10.1109/robot.1993.291971
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发表时间：
1993-05
期刊：
影响因子：
--
通讯作者：
Z. Ji
中科院分区：
文献类型：
--
作者：
Z. Ji
研究了Stewart平台中所有腿转动的惯性效应。腿的动力学与移动板的动力学解耦，使得移动腿的作动力可以与移动板的作动力分开计算。这样可以评估腿部惯性的影响。讨论了基于解耦动力学公式的动态移动仿真
The inertia effect of all the leg rotations in a Stewart platform is studied. The dynamics of the legs are decoupled from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. Dynamic mobile simulation based on the decoupled dynamics formulation is discussed.>