Dynamics Decomposition for Stewart Platforms

[+] Author and Article Information
Zhiming Ji

Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ 07102

J. Mech. Des 116(1), 67-69 (Mar 01, 1994) (3 pages) doi:10.1115/1.2919378 History: Received February 01, 1992; Online June 02, 2008


This paper shows that special features of the Stewart platform can lead to the decomposition of the moving plate and the legs in the dynamic analysis. Formulas for evaluating, separately, the driving forces needed for the movement of the legs are developed for studying the combined inertia effect of all the leg rotations in a Stewart platform. The proposed formulation is easy to implement for Stewart platforms with nonnegligible leg inertia.

Copyright © 1994 by The American Society of Mechanical Engineers
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