Closed Form Solution to Inverse Dynamics Problem of a Parallel Robot (Stewart Platform) by Lagrangian Approach

This paper presents the dynamical formulation of the six-degree-of-freedom parallel manipulator known as Stewart platform. The derivation of inverse dynamic equations for the parallel manipulators is quite complicated due to the presence of the closedloop structures and kinematic constraints. The powerful tool of Lagrange approach for vectorization of the energy and eliminating the constraint forces/torques can be exploited for generating the equations of motion for the Stewart platform. However, we give some insight into the structure and properties of these equations. Compact expressions are obtained for some coefficients. These expressions should be interesting from a control point of view.

Keywords:

Parallel robots , Stewart-Gough Platform , Inverse Dynamics , Lagrangian Dynamics