A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator

Chun-Ta CHEN

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A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator

机译：一般的6-6 Stewart平台机械手的逆动力学的准坐标的拉格朗日公式

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This paper presents a closed inverse dynamic formulation by the Lagrangian approach in terms of quasi-coordinates for the general 6-6 Stewart platform manipulator. It is shown that the symbolic computation using quasi-coordinates is most efficient as the structure undergoes finite rotations. The derived inverse dynamic equations are demonstrated to be well structured, straightforward, and suitable for computer programming. Numerical examples are finally carried out to validate the approach. Results of simulation are justified to be useful in the design and dynamic control of the manipulator.

机译：本文针对一般6-6 Stewart平台机械手，通过准坐标提出了通过拉格朗日方法的闭合逆动力学公式。结果表明，随着结构的有限旋转，使用准坐标的符号计算效率最高。证明所推导的逆动力学方程结构合理，简单明了，适合计算机编程。最后通过数值算例验证了该方法的有效性。仿真结果被证明对机械手的设计和动态控制很有用。

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《JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing》 |2003年第3期|p.1084-1090|共7页
作者
Chun-Ta CHEN;
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原文格式 PDF
正文语种 eng
中图分类机械、仪表工业;机械学（机械设计基础理论）;
关键词
Lagrangian; Quasi-Coordinates; Inverse Dynamics; Stewart Platform Manipulator;

机译：拉格朗日;准坐标;逆动力学;Stewart平台操纵器;

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1. A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator [J] . Chun-Ta CHEN JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 2003,第3期

机译：一般的6-6 Stewart平台机械手的逆动力学的准坐标的拉格朗日公式
2. Comments to the: "Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach" and "A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator" [J] . He Zhaoqi, Song Xigeng, Xue Dongxin Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2016,第Null期

机译：对以下内容的评论：“通过Newton-Euler方法的通用Stewart平台的闭式动力学方程”和“用于Stewart平台操纵器逆动力学的Newton-Euler公式”
3. An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators [J] . Sandipan Bandyopadhyay, Ashitava Ghosal Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2009,第7期

机译：静态各向同性的代数表示法和静态各向同性6-6 Stewart平台机械手的设计
4. A COMPREHENSIVE INVERSE DYNAMICS PROBLEM OF A STEWART PLATFORM BY MEANS OF LAGRANGIAN FORMULATION [C] . Naser Mostashiri, Jaspreet Dhupia, Alexander Verl, ASME annual dynamic systems and control conference . 2017

机译：Stewart平台的拉格朗日公式综合逆动力学问题
5. A new parameterization defining the kinematic and dynamic properties of a general class of Gough-Stewart platform manipulators. [D] . Allais, Anthony A. 2011

机译：一种新的参数化，定义了通用Gough-Stewart平台机械手的运动学和动力学特性。
6. Lagrangian formulation with dissipation of Born-Oppenheimer molecular dynamics using the density-functional tight-binding method [O] . Guishan Zheng, Anders M. N. Niklasson, Martin Karplus -1

机译：使用密度泛函紧密结合方法耗散Born-Oppenheimer分子动力学的拉格朗日公式
7. An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators [O] . Bandyopadhyay Sandipan, Ghosal Ashitava 2008

机译：运动各向同性的代数表示法和各向同性6-6 Stewart平台机械手的设计
8. A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity [R] . Hollerbach, J. M. 1979

机译：机械手动力学的递推拉格朗日公式及动力学公式复杂性的比较研究

A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator

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