Dynamic stability index and vibration analysis of a flexible Stewart platform

This article proposes a dynamic stability index of a flexible manipulator. The method is illustrated by considering the 6-UPS Stewart platform as an example. First, the analysis of dynamics and vibration of a 6-UPS Stewart platform is presented. The dynamic formulation follows the Newton–Euler appro...

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Bibliographic Details
Published inJournal of sound and vibration Vol. 307; no. 3; pp. 495 - 512
Main Authors Mukherjee, Parthajit, Dasgupta, Bhaskar, Mallik, A.K.
Format Journal Article
LanguageEnglish
Published London Elsevier Ltd 06.11.2007
Elsevier
Subjects
Applied sciences
Drives
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Linkage mechanisms, cams
Mechanical engineering. Machine design
Physics
Solid mechanics
Structural and continuum mechanics
Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)
Vibration
Mechanical torque
Viscous friction
Parallel mechanism
Modeling
Leg
Manipulator
Linkage mechanism
Dynamic stability
Newton Euler model
Inertia
Structural analysis
Gravity
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Summary:This article proposes a dynamic stability index of a flexible manipulator. The method is illustrated by considering the 6-UPS Stewart platform as an example. First, the analysis of dynamics and vibration of a 6-UPS Stewart platform is presented. The dynamic formulation follows the Newton–Euler approach. Leg stiffness, force and torque due to viscous friction at the joints, inertia and gravity effects are considered in the model. Finally, the response of the platform, subjected to base excitations at different frequencies, has been studied and the dynamic stability index developed has been validated.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0022-460X
1095-8568
DOI:10.1016/j.jsv.2007.05.036