Symbolic Dynamics and Controls of a Parallel Manipulator
Yao Wang
Broschiertes Buch

Symbolic Dynamics and Controls of a Parallel Manipulator

A Case Study of Stewart Platform

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Application of parallel manipulator has received lots of attention recently in the industry and the robotic community due to its high accuracy, high rigidity, high operation speed, high load capacity and high stiffness. Despite these advantages, the kinematic and dynamic analyses of parallel manipulators are extremely complicated. However, such models are important in terms of qualitative analysis of the required actuator forces to realize certain end-effector task (inverse dynamics), and computing the corresponding end-effector task based on certain input to the system (forward dynamics). Til...