1994 Volume 60 Issue 569 Pages 218-224
This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton-Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
