Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator

Guojun Liu, Shutao Zheng, Peter Ogbobe, Junwei Han

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

Original languageEnglish
Title of host publicationNumbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
Pages172-180
Number of pages9
DOIs
StatePublished - 2012
Externally publishedYes
Event2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011 - Wuhan, China
Duration: 24 Dec 201125 Dec 2011

Publication series

NameApplied Mechanics and Materials
Volume127
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
Country/TerritoryChina
CityWuhan
Period24/12/1125/12/11

Keywords

  • 6-UCU parallel manipulator
  • Inverse dynamic analysis
  • Inverse kinematic analysis
  • Newton-Euler method
  • Stewart platform

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