Dynamic analysis of gough stewart robot manipulator by using lagrange formulation in matlab software
Other Title(s)
التحليل الديناميكي للروبوت المتوازي كووف ستيوورت باستخدام طريقة لأكرانج ببرنامج الماتلاب
Joint Authors
Sarhan, Riyad Ahmad
Ulwan, Hasan Muhammad
Source
Journal of University of Babylon for Engineering Sciences
Issue
Vol. 26, Issue 10 (31 Oct. 2018), pp.36-50, 15 p.
Publisher
Publication Date
2018-10-31
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Abstract 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.
American Psychological Association (APA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. 2018. Dynamic analysis of gough stewart robot manipulator by using lagrange formulation in matlab software. Journal of University of Babylon for Engineering Sciences،Vol. 26, no. 10, pp.36-50.
https://search.emarefa.net/detail/BIM-917880
Modern Language Association (MLA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Dynamic analysis of gough stewart robot manipulator by using lagrange formulation in matlab software. Journal of University of Babylon for Engineering Sciences Vol. 26, no. 10 (2018), pp.36-50.
https://search.emarefa.net/detail/BIM-917880
American Medical Association (AMA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Dynamic analysis of gough stewart robot manipulator by using lagrange formulation in matlab software. Journal of University of Babylon for Engineering Sciences. 2018. Vol. 26, no. 10, pp.36-50.
https://search.emarefa.net/detail/BIM-917880
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 49
Record ID
BIM-917880