Closed-Form Dynamic Equations of the General Stewart Platform through
the Newton-Euler Approach
by Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
This paper addresses the question of dynamic formulation of the
six-degrees-of-freedom parallel manipulator known as the Stewart platform.
Dynamic equations for the two widely used kinematic structures of the
Stewart platform manipulator are derived in closed form through the
Newton-Euler approach. The Newton-Euler approach which is mostly used
for inverse dynamics alone in the case of serial manipulators is seen to
have an advantage in the case of parallel manipulators for the derivation of
closed-form dynamic equations as well. The dynamic equations derived are
implemented for forward dynamics of the Stewart platform and some simulation
results are also presented.