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What is Dynamic Modeling of Gough-Stewart Manipulators about?

This document summarizes a novel solution for dynamic modeling of Gough-Stewart manipulators. The solution provides closed-form inverse and direct dynamic models calculated in terms of Cartesian dynamic elements of the legs and Newton-Euler equations of the platform. The method is applied to a 6 degree-of-freedom Gough-Stewart manipulator but can generalize to other parallel structures. Kinematic modeling definitions and parameters are also presented.

Author

Quang Bách

Language

EN