This paper investigates the dynamic model of Gough/Stewart-type platforms, focusing on aspects concerning the proper modeling of leg constraints that seem to have been overlooked in a nonnegligible part of the available literature related to the subject. It shows, in particular, how failure in correctly modeling the arrangement of the universal joints connecting the legs to the base may cause positional, kinematic, and dynamic miscalculations. The effects of these errors are investigated and assessed for relevant cases of leg geometries. Numerical simulations are provided to validate the theory.

On the Modelling of Leg Constraints in the Dynamic Analysis of Gough/Stewart-Type Platforms

CARRICATO, MARCO;
2009

Abstract

This paper investigates the dynamic model of Gough/Stewart-type platforms, focusing on aspects concerning the proper modeling of leg constraints that seem to have been overlooked in a nonnegligible part of the available literature related to the subject. It shows, in particular, how failure in correctly modeling the arrangement of the universal joints connecting the legs to the base may cause positional, kinematic, and dynamic miscalculations. The effects of these errors are investigated and assessed for relevant cases of leg geometries. Numerical simulations are provided to validate the theory.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/68190
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