Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work

[+] Author and Article Information
Lung-Wen Tsai

Department of Mechanical Engineering, and Institute for Systems Research, University of Maryland, College Park, MD 20742e-mail: lwtsai@isr.umd.edu

J. Mech. Des 122(1), 3-9 (Dec 01, 1999) (7 pages) doi:10.1115/1.533540 History: Received July 01, 1998; Revised December 01, 1999
Copyright © 2000 by ASME
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Schematic diagram of a Stewart-Gough platform
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Free body diagram of a typical limb
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Input forces vs. dimensionless time (ωt)
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Actuating forces vs. dimensionless time (ωt)




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