Modej..ing and Simula Tion of a Stew Art Mechanism
نویسنده
چکیده
Abstract: This paper presents a full analysis of the dynamic behavior of a sixdegree-offreedom Stewart mechanism. In existing dynamic models of this mechanism, derived using either the Lagrange formulation or the Newton-Euler method, the masses of the supporting legs often have been ignored and, their inertia, invariably, assumed negligible. The modeling scheme developed in this paper is based on Kane's dynamical equations and takes account of both the platform's and the supporting legs' masses and inertia. A computer program is reported which implements this scheme to determine the actuator forces needed to produce desired platform trajectories. Pinally, the outputs of this program are presented, first to highlight the effects of supporting leg dynamics, and second, to show the even greater influence of drive system inertia on the overall dynamics of the mechanism.
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