Study of the effect of leg inertia in Stewart platforms

Document Type

Conference Proceeding

Publication Date

1-1-1993

Abstract

This paper presents a study on the inertia effect of all the leg rotations in a Stewart platform. We decompose the dynamics of the legs from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. The dynamic motion simulation is also discussed based on the decomposed dynamics formulation.

Identifier

0027147901 (Scopus)

ISBN

[0818634529]

Publication Title

Proceedings IEEE International Conference on Robotics and Automation

ISSN

10504729

First Page

121

Last Page

126

Volume

1

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