Hostname: page-component-6898cfcb55-w5hgh Total loading time: 0 Render date: 2026-11-11T09:51:08.149Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic and dynamic analysis of Stewart platform-based machine tool structures

Published online by Cambridge University Press:  02 March 2021

K. Harib and
K. Srinivasan
K. Harib
Affiliation:
Department of Mechanical Engineering, United Arab Emirates University, Al-Ain (United Arab Emirates)
K. Srinivasan
Affiliation:
Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210 (USA)
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

In this paper, an analytical study of the kinematics and dynamics of Stewart platform-based machine tool structures is presented. The kinematic study includes the derivation of closed form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. An evaluation of a numerical iterative scheme for an on-line solution of the forward kinematic problem is also presented. Effects of different configurations of the unpowered joints on the angular velocities and accelerations of the links are considered. The Newton-Euler formulation is used to derive the rigid body dynamic equations. Inclusion of models for actuator dynamics and joint friction is discussed.

Keywords

Stewart platformMachine toolsKinematics and dynamics

Information

Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003, pp. 541 - 554
Copyright
Copyright © Cambridge University Press 2003

References

1. Gough, V.E. and Whitehall, S.G., “Universal Tyre Test Machine”, Proc. 9th International Technical Congress F.I.S.I.T.A. (1962) pp. 117–137.Google Scholar
2. Stewart, D., “A Platform with Six Degrees of Freedom”, Proceedings of the Institution of Mechanical Engineers, London 180, No. 15, 371–386 (1965).CrossRefGoogle Scholar
3. Hunt, K.H., Kinematic Geometry of Mechanisms (Oxford University, London, 1978).Google Scholar
4. Geng, Z. and Haynes, L.S., “Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism”, J. Robotic Systems 10, No. 5, 725–744 (1993).CrossRefGoogle Scholar
5. Nanua, P., Waldron, K.J. and Murthy, V., “Direct Kinematic Solution of a Stewart Platform”, IEEE Trans. on Robotics and Automation 6, No. 4, 438–443 (1990).CrossRefGoogle Scholar
6. Do, W.Q.D. and Yang, D.C.H., “Inverse Dynamic Analysis and Simulation of a Platform Type of Robot”, J. Robotic Systems 5, No. 3, 209–227 (1988).CrossRefGoogle Scholar
7. Ji, Z., “Study of the Effect of Leg Inertia in Stewart Platform”, Proc. of the IEEE Conf. on Robotics and Automation (1993) Vol. 1, pp. 212–226.Google Scholar
8. Dasgupta, B. and Mruthyunjaya, T.S., “A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator”, Mechanism and Machine Theory 33, No. 8, 1135–1152 (1998).CrossRefGoogle Scholar
9. Nguyen, C.C. and Pooran, F.J., “Dynamic Analysis of a 6 DOF CKCM Robot End-Effector for Dual-Arm Telerobot Systems”, Robotics and Autonomous Systems 5, 377–394 (1989).CrossRefGoogle Scholar
10. Geng, Z., Haynes, L.S., Lee, J.D. and Carroll, R.L., “On the Dynamic Model and Kinematic Analysis of a Class of Stewart Platforms”, Robotics and Autonomous Systems 9, 237–254 (1992).CrossRefGoogle Scholar
11. Lebret, G., Liu, K. and Lewis, F.L., “Dynamic Analysis and Control of a Stewart Platform Manipulator”, J. Robotic Systems 10, No. 5, 629–655 (1993).CrossRefGoogle Scholar
12. Ma, O. and Angeles, J., “Archticture Singudarities of Parallel Manipulators”, Int. J. of Robotics and Automation 7, No. 1, 23–29 (1992).Google Scholar
13. Husty, M.L., An Algorithm for Solvmg the Direct Kinematics of General Stewart-Gough Platform, Mech. Mach. Theory 31, No. 4, 365–380, (1996).CrossRefGoogle Scholar
14. Wampler, C.W., Forward Displacement Analysis of General Six-in-Parallel SPS (Stewart) Platform Manipulators Using Soma Coordinates, Mech. Mach. Theory 31, No. 3, 331–337 (1996).CrossRefGoogle Scholar
15. Wilson, C.E. and Sadler, J.P., Kinematics and Dynamics of Machinery (Harper Collins College Publishers, New York, NY, 1993).Google Scholar
16. Harib, K., “Dynamic Modeling and Control of Stewart Platform-Based Machine Tools”, Ph.D. Thesis (Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio, 1997).Google Scholar
17. Walker, M.W. and Orin, D.E., “Efficient Dynamic Computer Simulation of Robotic Mechanisms”, J. of Dynamic System, Measurement, and Control 104, 205–211 (1982).CrossRefGoogle Scholar
18. Gutkowski, L.J., “A General, Robust Procedure for the Kinematic and Friction Force Analysis of Single Loop, One DOF Spatial Mechanism”, Ph.D. Thesis (Department of Mechanical Engineering, TheOhio State University, Columbus, Ohio, 1990).Google Scholar