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A Fast Algorithm for Solving Inverse dynamics of Hexapod Motion System Using Reduced Order Dynamic Model

Publish place: 07th Conference of Iranian Aerospace Society
Publish Year: 1386
Type: Conference paper
Language: English
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Link to this Paper:
https://civilica.com/doc/55543

Document National Code:

AEROSPACE07_216

Index date: 22 July 2008

A Fast Algorithm for Solving Inverse dynamics of Hexapod Motion System Using Reduced Order Dynamic Model abstract

The authors implemented a reduced order dynamic model using Newton-Euler approach for real-time calculation of forces exerted on actuators in a haxapod motion system of a motion simulator. The equations of motion of the platform are derived in a general context neglecting legs inertia and joint frictions. Cinematic results such as lengths and extension rates of actuators are obtained from the procedure of force calculation. Required linear and angular velocities can be obtained from embedded platform sensors. The algorithm is tested for a sample simulator with typiical motion data by using MATLAB and SIMULINK resources. The simulation results are verified by an equivalent model built in NASTRAN.

A Fast Algorithm for Solving Inverse dynamics of Hexapod Motion System Using Reduced Order Dynamic Model Keywords:

Hexapod , Inverse Dynamics , Reduced order Model

A Fast Algorithm for Solving Inverse dynamics of Hexapod Motion System Using Reduced Order Dynamic Model authors

A. Mahmoodi

Department of Aerospace Engineering Department, Amirkabir University of technology, Tehran, Iran

M. Sabzehparvar

Department of Aerospace Engineering Department, Amirkabir University of technology, Tehran, Iran

A. SalehzadehNobari

Department of Aerospace Engineering Department, Amirkabir University of technology, Tehran, Iran

S. Purrezaei

MS student