Multibody Dynamic Analysis of a 6-DOF Parallel Robot

摘要

Abstract This paper presents the dynamic analysis of a six-degree of freedom (dof) parallel robot based on multibody dynamics. The robot is also known as Stewart-Gough platform. The inverse and forward dynamic analysis is presented based on the Newton-Euler formulation with the imposition of the constraints through Lagrange multipliers and the application of the principle of virtual work. The singularity problem within the workspace is also focused and 3D surfaces where the robot reach singular configurations are shown. Finally, simulations for the inverse and forward dynamic of the robot have been carried out showing the computational cost.