Solution of inverse dynamics of Stewart–Gough platform using substructure technique
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Hung Yen University of Technology and Education, Hung Yen, Viet Nam
Technical University of Liberec, Liberec, Czech Republic
Tran Xuan Tien   

Mechatronics, HungYen University of Technology and Education, Viet Nam
Submission date: 2020-06-19
Final revision date: 2021-02-17
Acceptance date: 2021-03-03
Online publication date: 2021-05-06
Publication date: 2021-07-15
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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