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Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator

Published online by Cambridge University Press:  01 May 2009

J. Lin  and
C.-W. Chen
J. Lin*
Affiliation:
Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Rd., Jung-Li City, Taiwan 320, R.O.C.
C.-W. Chen
Affiliation:
Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Rd., Jung-Li City, Taiwan 320, R.O.C.
*
*Corresponding author. E-mail: jlin@cyu.edu.tw
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Summary

The Stewart platform manipulator is a fully kinematic linkage system that has major mechanical differences from typical serial link robots. It is a six-axis parallel robot manipulator with a high force-to-weight ratio and good positioning accuracy that exceeds that of a conventional serial link robot arm. This study examines the dynamic equations and control methodology for a Stewart platform. Because manual symbolic expansion of Stewart platform robot dynamic equations is tedious, time-consuming, and prone to errors, an automated derivation process is highly desired. The main goal of this work is to present an efficient procedure for computer generation of dynamic equations for a Stewart platform manipulator. As MATLAB has a powerful signal processing toolbox along with symbolic processing capabilities and is widely used as a common technical computing environment in many universities and research laboratories, the objective of this study was to develop a MATLAB-based approach for symbolic computation for a parallel linked robot. Additionally, a computed-torque control methodology is utilized for such a structure. Simulation results demonstrate the effectiveness of the proposed control methodology.

Keywords

Stewart platformSymbolic modelingParallel link robots
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 331 - 341
Copyright
Copyright © Cambridge University Press 2008

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