DYNAMIC ANALYSIS OF A STEWART PLATFORM MANIPULATOR

The dynamic equations of the Stewart platform manipulator in the task-space are derived by applying the combination of the Newton-Euler method with the Lagrange formulation including the dynamics of the legs. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a parallel manipulator. Simulation results reveal the effect of the leg inertia on the dynamics of the complete system and verify the dynamic modeling for the model-based control.