Dynamic (Forward and Inverse Force Transmission Capability) Analysis of the Stewart Platform as Robot Manipulator

摘要

The Stewart platform plays a central role in the group of parallel spatial mechanisms. It is advantageous to use the Stewart platform as robot manipulator, when accuracy, dynamic performance and load carrying capacity are having paramount importance. This work represents the analytical approach for evaluating the forward and inverse force transmission capabilities of the Stewart platform when it is functioning as a robot manipulator. For the forward and inverse force transmission analysis two eigenvalue problems are formulated. The necessary conditions for the maximum force and torque, in forward force transmission analysis are investigated. The methodology applied for forward and inverse force transmission analysis is justified by taking numerical examples. Also the numerical algorithm of selecting actuator forces is presented.