An improved solution to the inverse dynamics of the general Stewart platform

Abstract

This research presents an improved solution to the inverse kinematics and dynamics of the general Stewart platform. The dynamic equations are generated through Newton-Euler approach. There have been a number of previous researches on this subject, but most of them consisted of some simplifying approximations which facilitate the formulation. Considering the creativity of the Newton-Euler method in the previous research works, using the intact assumptions results in more accurate formulation from a theoretical point; therefore, the authors intend to present the improved dynamic equations of Stewart platform using the kinematic model of the universal joint. The rotational degree of freedom of the pods around the axial direction has been taken into account in the new formulation. The dynamic equations and the findings of the new formulation are fundamentally different compared to the previous ones.