The analysis of forward/inverse force transmission capabilities of the stewart platform

Han Sung Kim, Yong Je Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward/inverse force transmission capabilities. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the magnitude bounds of the force and moment generated at the end-effector for the given rhagnitude of actuating forces. Conversely, the inverse force transmission analysis is to find the magnitude bound of actuating forces for the given magnitudes of the force and moment at the endeffector. The inverse force transmission analysis is important since it can provide a designer with valuable information about how to choose the linear actuators. It has been proved that the two eigenvalue problems have a reciprocal relation with each other, which implies that solving either of the eigenvalue problems may complete the forward and inverse force transmission analyses. A numerical example is also presented.

Original languageEnglish
Title of host publication25th Design Automation Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages429-435
Number of pages7
ISBN (Electronic)9780791819715
DOIs
Publication statusPublished - 1999
EventASME 1999 Design Engineering Technical Conferences, DETC 1999 - Las Vegas, United States
Duration: 1999 Sep 121999 Sep 16

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume1

Conference

ConferenceASME 1999 Design Engineering Technical Conferences, DETC 1999
Country/TerritoryUnited States
CityLas Vegas
Period99/9/1299/9/16

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support of Korea Science and Engineering Foundation (KOSEF) with the contract No. 96-0200-11-01-3.

Publisher Copyright:
Copyright © 1999 by ASME.

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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