Vibration damping modeling of Stewart platform through Newton-Euler approach

P. Xu; D. H. Wang

doi:10.1117/12.602670

17 May 2005 Vibration damping modeling of Stewart platform through Newton-Euler approach

P. Xu, D. H. Wang

Proceedings Volume 5764, Smart Structures and Materials 2005: Smart Structures and Integrated Systems; (2005) https://doi.org/10.1117/12.602670
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2005, San Diego, California, United States

Abstract

A closed-form dynamic model of a 6-UPS (universal-prismatic-spherical) Stewart platform suitable for modeling and analyzing the vibration damping of the 6-UPS Stewart platform based systems is developed through Newton-Euler dynamic approach. In the formulation, the external excitations on the base-platform of the 6-UPS Stewart platform are considered and the developed model is in a closed form, so the model can not only be used to model and analyze the vibration damping of the 6-UPS Stewart platform based systems when the base-platform is exerted external excitations, but also can be used to design the control algorithms of the 6-UPS Stewart platform based systems to realize the feedback control of the vibration damping. The dynamic formulation is implemented for the modeling and analyzing of the vibration damping of a 6-UPS Stewart platform based system and some numerical simulation results are also presented.

Citation Download Citation

P. Xu and D. H. Wang "Vibration damping modeling of Stewart platform through Newton-Euler approach", Proc. SPIE 5764, Smart Structures and Materials 2005: Smart Structures and Integrated Systems, (17 May 2005); https://doi.org/10.1117/12.602670

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