Solution of inverse dynamics of stewart-gough platform using substructure technique

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24210%2F21%3A00009022" target="_blank" >RIV/46747885:24210/21:00009022 - isvavai.cz</a>
Result on the web
<a href="http://jtam.pl/" target="_blank" >http://jtam.pl/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.15632/jtam-pl/136057" target="_blank" >10.15632/jtam-pl/136057</a>

Result language
angličtina
Original language name
Solution of inverse dynamics of stewart-gough platform using substructure technique
Original language description
The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20302 - Applied mechanics

Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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