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A New Dynamic Analysis of 6-3 Stewart Platform Manipulator
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 Title & Authors
A New Dynamic Analysis of 6-3 Stewart Platform Manipulator
Kim, Nak-In; Lee, Chong-Won;
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 Abstract
The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.
 Keywords
Stewart Platform Manipulator;Lagrangian Equation;Newton-Euler Method;
 Language
Korean
 Cited by
1.
역나선 이론을 이용한 저자유도 병렬형 기구의 강성해석,김한성;

대한기계학회논문집A, 2005. vol.29. 5, pp.680-688 crossref(new window)
2.
6자유도 시뮬레이터의 설계인자 추정에 관한 연구,윤준석;송우진;변영섭;구태완;김정;강범수;

대한기계학회논문집A, 2010. vol.34. 4, pp.447-456 crossref(new window)
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