This paper investigates the dynamic model of Gough/Stewart-type platforms, focusing on aspects concerning the proper modeling of leg constraints that seem to have been overlooked in a nonnegligible part of the available literature related to the subject. It shows, in particular, how failure in correctly modeling the arrangement of the universal joints connecting the legs to the base may cause positional, kinematic, and dynamic miscalculations. The effects of these errors are investigated and assessed for relevant cases of leg geometries. Numerical simulations are provided to validate the theory.
Issue Section:
Research Papers
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