Dynamic Analysis of 6-DOF Large Displacement Composite Simulation Platform


Article Preview

For the problem of Typical Stewart Platform with small workspace and poor flexibility, the paper proposed a new 6-DOF simulator platform. The simulator platform compounds the three-bar parallel mechanism with moving degrees of freedom and the three-axis turntable with rotating degrees of freedom, it can repeat any attitude of 6-DOF in space. Effectively solve the problem of Typical Stewart Platform with small workspace and poor flexibility. Using Lagrange equation establish dynamic equation of the simulator platform, and using MATLAB in-depth analysis its dynamics. It can provide a reference for the optimal design of structural dynamic of the simulation platform.



Edited by:

Xiong Zhou and Zhenzhen Lei




X. M. Liu and H. Y. Yan, "Dynamic Analysis of 6-DOF Large Displacement Composite Simulation Platform", Applied Mechanics and Materials, Vol. 233, pp. 181-185, 2012

Online since:

November 2012




[1] Huang Zhen, Kong Lingfu, Fang Yuefa. Parallel Robot Mechanism Theory and Control [M]. Beijing: Mechanical Industry Press, (1997).

[2] Houssem Abdellatif, Bodo Heimann. Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism [J]. Mechanism and Machine Theory 44 (2009) 192–207.

DOI: https://doi.org/10.1016/j.mechmachtheory.2008.02.003

[3] Bai Zhifu, Han Xianguo, Chen Wuyi. Study of a 3-DOF parallel manipulator dynamics based on Lagrange's equation [J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(1): 51-54.

[4] Hamid D. Taghirad. Meyer A. Nahon. Dynamic Analysis of a Macro–Micro Redundantly Actuated Parallel Manipulator[J]. Advanced Robotics 22 (2008) 949–981.

DOI: https://doi.org/10.1163/156855308x315145

[5] R. Z. H. Almeida* and T. A. Hess-Coelho. Dynamic Model of a 3-dof Asymmetric Parallel Mechanism[J]. The Open Mechanical Engineering Journal, 2010, 4, 48-55.

DOI: https://doi.org/10.2174/1874155x01004010048

[6] Wisama KHALIL, Ouarda IBRAHIM. General Solution for the Dynamic Modeling of Parallel Robots[J]. Journal of Intelligent and Robotic Systems, Vol. 49, pp.19-37, (2007).

DOI: https://doi.org/10.1007/s10846-007-9137-x