17 May 2005 Vibration damping modeling of Stewart platform through Newton-Euler approach
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Abstract
A closed-form dynamic model of a 6-UPS (universal-prismatic-spherical) Stewart platform suitable for modeling and analyzing the vibration damping of the 6-UPS Stewart platform based systems is developed through Newton-Euler dynamic approach. In the formulation, the external excitations on the base-platform of the 6-UPS Stewart platform are considered and the developed model is in a closed form, so the model can not only be used to model and analyze the vibration damping of the 6-UPS Stewart platform based systems when the base-platform is exerted external excitations, but also can be used to design the control algorithms of the 6-UPS Stewart platform based systems to realize the feedback control of the vibration damping. The dynamic formulation is implemented for the modeling and analyzing of the vibration damping of a 6-UPS Stewart platform based system and some numerical simulation results are also presented.
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P. Xu, P. Xu, D. H. Wang, D. H. Wang, } "Vibration damping modeling of Stewart platform through Newton-Euler approach", Proc. SPIE 5764, Smart Structures and Materials 2005: Smart Structures and Integrated Systems, (17 May 2005); doi: 10.1117/12.602670; https://doi.org/10.1117/12.602670
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