General inverse dynamic analysis of Gough-Stewart platform

In practical applications, users sometimes require the control point to be changeable, and the mass centers of piston parts and cylinder parts of the limbs are often non-collinear to the attachment points of universal joints. In order to solve these problems, a general inverse kinematic model, which is applied to the control point at any desired point and to the mass centers at random positions, is established. Then, a general inverse dynamic equation is built based on the principle of virtual work, and a compact solution to the equation is obtained. More-over, the proposed model is simplified according to practical situations, and the application scope of the model is clearly stated. Finally, some simulations are performed to verify the correctness of the established equation, with the results being completely consistent with the reported ones. Thus, it is concluded that the established inverse dynamic equation is correct and is applicable to the design and model-based control of the Gough-Stewart platform.