Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom

Archive of Applied Mechanics

Volumn 72, Issue 11-12, 2003, Pages 817-829

  Riebe, S ^a   Ulbrich, H ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

Experimental verification; Friction identification; Hexapod; Inverse dynamics; Nonlinear model; Parallel robot; Real time simulation

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; INVERSE KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; NONLINEAR EQUATIONS; OPTIMIZATION; REAL TIME SYSTEMS; ROBOTICS;

FRICTION IDENTIFICATION; HEXAPOD; INVERSE DYNAMICS; PARALLEL ROBOT; REAL TIME SIMULATION;

DYNAMICS;

EID: 0038010078     PISSN: 09391533     EISSN: None     Source Type: Journal    
DOI: 10.1007/s00419-002-0262-5     Document Type: Article

References (17)

1. Amirat, Y.; Francois, C et al.: Design and control of a new six DOF parallel robot. Application to equestrian gait simulation. Mechatronics 6(2) (1996) 227-239
2. Antoszkiewicz, P.: Simulation eines hydraulisch angetriebenen Bewegungssystems mit 6 Freiheitsgraden, O+P (Ölhydraulik und Pneumatik) 44(8) (2000)
3. Armstrong-Helouvry, B.; Dupont, C.; Canudas de Wit, C.: A survey of models: Analysis tools and compensation methods for the control of machines with friction. Automatica 30(7) (1994) 1083-1138
4. Dasgupta, B.; Choudhury, P.: A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel robots. Mechanism and Machine Theory 34 (1999) 801-824
5. dSPACE: Users manual for dSPACE DS1103 PPC controller board. Paderborn 2001
6. Eich-Soellner, E.; Führer, C.: Numerical methods in multibody dynamics. Stuttgart, B.G. Teubner Verlag, 1998
7. Föllinger, O.: Regelungstechnik - Einführung in die Methoden und ihre Anwendungen. (8. Aufl). Heidelberg, Hüthig Buch Verlag, 1996
8. Geng, Z.; Haynes, L.: Six-degree-of-freedom active vibration isolation using a stewart platform mechanism. J Robotic Syst 10(5) (1993) 725-744
9. Hagenbuch, Jr., H.; Lodewyks, J.: 'Arbeitstiere' der ganz anderen Art - Der Hexamove als universelle Antriebsplatform. Fluid (1999) 34-39
10. Honegger, M.: Nonlinear adaptive control of a 6 DOF parallel manipulator. Int Conf on Motion and Vibration Control (MOVIC) (1998) 25-28
11. Lebret, G.; Liu, K.; Lewis, F.L.: Dynamic analysis and control of a stewart platform manipulator. J Robotic Syst 10(5) (1993) 629-655
12. Li, D.; Salcudean, S.E.: Modeling, simulation and control of a hydraulic stewart platform. Proc of the IEEE Int Conf on Robotics and Automation (1997) 3360-3366
13. Liiv, U. (publisher): tricepttimes, journal by Neos Robotics 4, Täby, Sweden, 2001
14. Merlet, J.-P.: Parallel robots, solid mechanics and its applications 74, Kluwer Dordrecht, Boston, London, Academic Publishers, 2000
15. N.N.: Kinematic SKM400. Information leaflet by starrag-heckert group. Chemnitz, Germany 2000
16. Ulbrich, H.: Maschinendynamik, Stuttgart, Teubner Verlag, 1996
17. Ulbrich, H.; Riebe, S.; Abichi, C.: Active vibration isolation of a stewart platform using hydraulic actuators. Proc of the IX Diname (2001)