A dynamic model of a flexible Stewart platform.
Comput. Struct., 48 (3):
367-374 (1993)Abstract
A general Stewart platform robotic manipulator, which consists of
a base platform, a mobile platform, and six flexible actuators connecting
these platforms, has been considered. A set of 12 Lagrange equations
for flexible Stewart platform manipulators has been rigorously derived
by using tensor representation. It is shown, in the limiting case,
that the 12 Lagrange equations are reduced to six equations for the
Stewart platform whose actuators are rigid. The model-based control
approach for the end-effector of the Stewart platform has been discussed.
Description
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