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Solution of inverse dynamics of Stewart–Gough platform using substructure technique
 
 
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1
Hung Yen University of Technology and Education, Hung Yen, Viet Nam
 
2
Technical University of Liberec, Liberec, Czech Republic
 
 
Submission date: 2020-06-19
 
 
Final revision date: 2021-02-17
 
 
Acceptance date: 2021-03-03
 
 
Online publication date: 2021-05-06
 
 
Publication date: 2021-07-25
 
 
Corresponding author
Tran Xuan Tien   

Mechatronics, HungYen University of Technology and Education, Viet Nam
 
 
Journal of Theoretical and Applied Mechanics 2021;59(3):329-342
 
KEYWORDS
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ABSTRACT
The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.
 
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ISSN:1429-2955
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