Dynamic analysis of gough stewart robot manipulator by using lagrange formulation in matlab software

الملخص EN

In this paper, Gough Stewart parallel manipulator with six-degree of freedom used as a model to derived the inverse kinematics equations and inverse dynamic equations.

The inverse kinematic problem is very simple to derive then used to computed the jacobian matrix and the lengths of the linkages to determine the path trajectory of the moving platform.

The dynamic equation based on the Lagrange method by calculated the kinetic and potential energies for the model.

The dynamic equation inserted in Simulink block as Matlab file lead to computed the forces of the linkages at any time of simulation and can be used to explain if the path contain a singularities where the forces increasing very quickly in singular point compare with other points during the path of the moving platform.

Finally,these blocks can be used in the other models with different parameters inputs.