File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1299/kikaic.60.218
- Scopus: eid_2-s2.0-0028194704
- Find via
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Article: スチュワートプラットホーム形パラレルリンクマニピュレータの動力学計算法
| Title | スチュワートプラットホーム形パラレルリンクマニピュレータの動力学計算法 Computation of Parallel Link Manipulator Dynamics |
|---|---|
| Authors | |
| Keywords | Robotics Parallel Link Simulation Inverse Dynamics |
| Issue Date | 1994 |
| Citation | 日本機械学会論文集Ｃ編, 1994, v. 60, n. 569, p. 218-224 How to Cite? Transactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 569, p. 218-224 How to Cite? |
| Abstract | This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method. © 1994, The Japan Society of Mechanical Engineers. All rights reserved. |
| Persistent Identifier | http://hdl.handle.net/10722/302623 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Takeo, Kouji | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Kai, Katsumi | - |
| dc.contributor.author | Mizuno, Tomo | - |
| dc.contributor.author | Tomimatsu, Hiroaki | - |
| dc.date.accessioned | 2021-09-07T08:42:16Z | - |
| dc.date.available | 2021-09-07T08:42:16Z | - |
| dc.date.issued | 1994 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 1994, v. 60, n. 569, p. 218-224 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 569, p. 218-224 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302623 | - |
| dc.description.abstract | This paper proposes an algorithm, for calculating the inverse dynamics of link manipulators. First, we derive a method to calculate the inverse dynamics of a general type of parallel link mechanism using the method proposed by Luh and Zeng., which is developed for a simple closed link mechanism and yields the inverse dynamics of the simple closed link mechanism using the Newton -Euler method of serial link manipulators. We then derive a calculation algorithm for the inverse dynamics of a Stewart Platform. The algorithm is applied to a dynamic simulation of a Stewart Platform by a unit-vector method, and the simulation results demonstrate the validity of the method. © 1994, The Japan Society of Mechanical Engineers. All rights reserved. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers Series C | - |
| dc.subject | Robotics | - |
| dc.subject | Parallel Link | - |
| dc.subject | Simulation | - |
| dc.subject | Inverse Dynamics | - |
| dc.title | スチュワートプラットホーム形パラレルリンクマニピュレータの動力学計算法 | - |
| dc.title | Computation of Parallel Link Manipulator Dynamics | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.60.218 | - |
| dc.identifier.scopus | eid_2-s2.0-0028194704 | - |
| dc.identifier.volume | 60 | - |
| dc.identifier.issue | 569 | - |
| dc.identifier.spage | 218 | - |
| dc.identifier.epage | 224 | - |