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
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
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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