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and keyword index machining applications. In this paper, the inverse dynamics of hexapods with fixed-length legs is analyzed using the natural orthogonal complement method. This analysis includes the mass of the moving platform as well as those of the legs. The leg masses become important for highspeed applications. In this development, the Newton-Euler formulation is used to model the dynamics of each individual body, including the moving platform and the legs. This is followed by assembling the individual dynamics equations to form the global dynamics equations. Based on the complete kinematics model developed in the paper, an explicit expression is derived for the natural orthogonal complement that effectively eliminates the constraint forces in the global dynamics equations. This leads to the inverse dynamics equations of the hexapods that can be used to compute required actuator forces for given motions. Simulations are provided to demonstrate the developed method.

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Publisher

Society of Manufacturing Engineers; Elsevier ; Elsevier BV (ISSN 0278-6125)

Published

2002

Language

EN

Field

Engineering (Physical Sciences)