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Improved dynamic equations for the generally configured Stewart platform manipulator

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Abstract

In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, University of Tabriz, Bahman 29th Blvd., 51666-14766, Tabriz, Iran

    Siamak Pedrammehr & Mehran Mahboubkhah

  2. School of Mechanical Engineering, College of Engineering, University of Tehran, 14395-515, Tehran, Iran

    Navid Khani

Authors
  1. Siamak Pedrammehr
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  2. Mehran Mahboubkhah
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  3. Navid Khani
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Corresponding author

Correspondence to Siamak Pedrammehr.

Additional information

This paper was recommended for publication in revised form by Associate Editor Kyung-Soo Kim

Siamak Pedrammehr received his B.Sc. and M.Sc. in mechanical engineering from University of Tabriz, Tabriz, Iran, in 2008 and 2011, respectively. His research interests include kinematic and dynamic modeling and control of parallel mechanisms and machine tools, machining dynamics and modal analysis.

Mehran Mahboubkhah received his B.Sc. and M.Sc. in Mechanical Engineering from Amirkabir University of Technology and Sharif University of Technology, Tehran, Iran, in 1998 and 2000, respectively. He then received his Ph.D. in Mechanical Engineering from Tarbiat Modares University, Tehran, Iran, in 2008. Dr. Mahboubkhah is currently Assistant Professor in the Faculty of Mechanical Engineering in the University of Tabriz, Tabriz, Iran. His research interests include machine tools design, kinematic, dynamic, vibration and calibration of parallel kinematic machines and Metrology and Instrumentation.

Navid Khani received the B.Sc. in mechanical engineering from Technical University of Tabriz, Tabriz, Iran, in 2008. He received his M.Sc. in mechanical engineering from University of Tehran, Tehran, Iran, in 2010. His research interests are numerical modeling and analysis of mechanical structures and manufacturing process.

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Pedrammehr, S., Mahboubkhah, M. & Khani, N. Improved dynamic equations for the generally configured Stewart platform manipulator. J Mech Sci Technol 26, 711–721 (2012). https://doi.org/10.1007/s12206-011-1231-0

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  • DOI: https://doi.org/10.1007/s12206-011-1231-0

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