Dynamics decomposition for stewart platforms

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32 Scopus citations


This paper shows that special features of the Stewart platform can lead to the decomposition of the moving plate and the legs in the dynamic analysis. Formulas for evaluating, separately, the driving forces needed for the movement of the legs are developed for studying the combined inertia effect of all the leg rotations in a Stewart platform. The proposed formulation is easy to implement for Stewart platforms with nonnegligible leg inertia.

Original languageEnglish (US)
Pages (from-to)67-69
Number of pages3
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number1
StatePublished - Mar 1994

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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