Study of the effect of leg inertia in Stewart platforms

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Abstract

This paper presents a study on the inertia effect of all the leg rotations in a Stewart platform. We decompose the dynamics of the legs from that of the mobile plate so that the actuating force for moving the legs can be computed separately from that for moving the mobile plate. This enables the evaluation of the effect of leg inertia. The dynamic motion simulation is also discussed based on the decomposed dynamics formulation.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages121-126
Number of pages6
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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