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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 16, NO. 1, FEBRUARY 2000

Dynamics Analysis of the GoughStewart Platform Manipulator


Min-Jie Liu, Cong-Xin Li, and Chong-Ni Li
AbstractA novel derivation of the forward dynamic equations for the GoughStewart platform manipulator based on Kanes equation is proposed in this paper. In this method, each leg of the GoughStewart platform manipulator is treated as independent substructure, the system dynamic equations are composed of the equations of legs and platform according to the constraints among substructures. The formulation has been implemented in MATLAB routines, and simulation results have been given to show the validation of the new approach. Compared with the traditional NewtonEuler method and Lagrange formulation, the modeling process proposed in this paper is more straightforward and systematic, and the final dynamic equations are very concise. Index TermsDynamic equations, GoughStewart platform, Kanes equation, simulation.

In (1), the generalized active forces F and generalized inertial forces F 3 are the projection of active forces and inertial forces on the generalized velocities. To apply Kanes method, the calculation of accelerations, partial velocities of mass centers, and partial angular velocities of all links are required. Based on Kanes equation, Huston adopted the velocities of mass center as well as the components of relative linear and angular velocities between adjoining bodies as the generalized speeds. Furthermore, the recursive formulations were derived to calculate partial velocities, partial angular velocities, derivatives of partial velocities, and derivatives of partial angular velocities. In this approach, the derivatives of partial velocities and partial angular velocities are used to express accelerations and angular accelerations of bodies, respectively. For example, the mass center acceleration of body k can be written as

ak = vk y + vk y _ _ (2) where y is the generalized speeds. vk is the derivative of partial velocity _


matrix. In fact, these derivatives can be obtained by matrix multiplication or vector multiplication. For instance, the derivative of transformation matrix R can be obtained by where the skew-symmetric matrix of angular velocity vector ! is given by

I. INTRODUCTION The GoughStewart platform manipulator is a six-degree-of-freedom mechanism with two bodies connected together by six extensible legs [1], [2]. This closed-loop structure makes the manipulator system far more rigid in proportion to size and weight than any serial link robot, and yields a force-output-to-manipulator-weight ratio more than one order of magnitude greater than serial link robot. In recent years, many research works have been conducted on the dynamics of the GoughStewart platform manipulator [3][11]. Several methods such as the Lagrange equation, NewtonEuler equation and principle of virtual work are proposed to derive dynamic equations of the GoughStewart platform. The Lagrange formulation is well structured and can be expressed in closed form, but a large amount of symbolic computation is needed to find partial derivatives of the Lagrangian in this method. The NewtonEuler approach requires computation of all constraint forces and moments between the links. However, these computations are not necessary for the simulation and control of a manipulator. The method of virtual work is an efficient approach to derive dynamic equations for the inverse dynamics of the GoughStewart platform [8], [9]. However, for the forward dynamics, the method of virtual work is not straightforward because of the complicated velocity transform between the joint-space and task-space. In this paper, a simple and efficient approach is proposed to derive the dynamic equations of the GoughStewart platform manipulator for the dynamic simulation. Firstly, legs and moving platform are treated as independent substructures, and their dynamic equations are derived using the Huston form of Kanes equation. Then, the dynamic equations of all substructures are put together to obtain the constrained system dynamic equations according to the constraints among substructures introduced by Lagrange multipliers. II. HUSTON FORM OF KANES EQUATION Using Kanes equation, the dynamics equations of a multibody system with N bodies can be written as follows [12].

d (R) = !R  dt
0

(3)

!= 

!3 0!2

0!3 !2 0 0!1 :
!1
0

(4)

According to the Hustons approach, the dynamic equations of an open-chain multibody system with N rigid bodies can be written as [13]

alp yp = fl ; _
where

l; p = 1; 1 1 1 ; N

(5)

fl = Fl 0 blp yp 0 cl
and

alp = mk vklm vkpm + Jkmn wklm wkpn blp = mk vklm vkpm + Jkmn wklm wkpn _ _ cl = ersm Jksn wklm wkpr wkqn yp yq Fl = Fkm vklm + Mkm wklm ; m; n; r; s = 1; 2; 3; k = 1; 1 1 1 ; N ; q = 1; 1 1 1 N: In the above equations, yp are the generalized speeds. v and w denote the partial velocity and partial angular velocity of body k in inertial reference frame <; respectively. Jkmn is the component of the inertia matrix of body k relative to its mass center in <: ersm is the permutation symbol. Fkm and Mkm are the components of the resultant force acting at the mass center of body k in <: The explicit form of(5) was
first developed by Huston and was called the Huston form of Kanes equation. III. DYNAMIC EQUATIONS The mechanism model of the GoughStewart platform manipulator shown in Fig. 1 has a base and a platform. They are connected by six extensible legs with spherical joints at the platform end and universal joint at the base end. Since the legs of the GoughStewart platform manipulator are identical, we only need to derive the dynamic equations of the platform and one leg.

F + F 3 = 0:

(1)

Manuscript received April 19, 1999; revised November 24, 1999. This paper was recommended for publication by Associate Editor H. Zhuang and Editor A. De Luca upon evaluation of the reviewers comments. The authors are with Shanghai Jiao Tong University, Shanghai 200030, China. Publisher Item Identifier S 1042-296X(00)02694-X.

S1042296X/00$10.00 2000 IEEE

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 16, NO. 1, FEBRUARY 2000

95

Fig. 3. Fig. 1. Stewart platform manipulator.

The platform.

According to !i = wi yi ; we can obtain the partial velocities of two parts.

vi;1 = [0Ri ri;1

0321 ]

(11) (12)

vi;2 = [0Ri (ri;2 + si ) ui ]

where ui is the unit vector along the leg i: The overbar denote the skew-symmetric matrix of a vector. The derivatives of partial velocities of two parts can be derived from(11) and(12) by(3)

vi;1 = [(Ri ri;1 ) 2 !i _


Fig. 2. One leg of the Stewart platform.

0321 ]

(13) (14)

vi;2 = [Ri (ri;2 + si ) 2 !i 0 Ri si !i 2 ui ]: _ _

A. Dynamics of the Legs Fig. 2 illustrates one leg of a general GoughStewart platform. Let X0 Y0 Z0 denote the inertial frame fixed at the base. xi yi zi (i = 1; 2; 1 1 1 ; 6) is parallel to X0 Y0 Z0 and its origin coincident with Bi : The origins of local frames are attached to each part and labeled as Oi;1 and Oi;2 : These two local frames are parallel and their x-axis point to the joint point Pi : si is the position vector from Oi;1 to Oi;2 in the local frame Oi ; 1 and qi is the position vector from Oi;2 to Pi in the local frame Oi;2 : Let ri;k be the position vector of the mass centers Gi;k in local frames. In order to derive the dynamic equations of leg i in xi yi zi ; the components of angular velocity of leg i and the relative sliding velocity between two parts are used as generalized speeds.

According to the (5), the dynamic equation for a leg of the GoughStewart platform manipulator can be written as

Ai yi _
where
2
=
k=1

Di

(15)

Ai

mi;k vi;k T vi;k + wi T Ji;k wi

Di = fi 0 bi yi
and
2
=
k=1

fi

vi;k T Fi;k mi;k vi;k T vi;k + wi T !i Ji;k wi : _

yi

= [!i;x

!i;y !i;z si;x ]T : _

(6)

The angular velocity of leg i is given by

bi =

k=1

!i = [!i;x !i;y !i;z ]T :

(7)

Based on(6) and (7), the partial angular velocity and the time derivative of partial angular velocity of leg i can be determined as follows, respectively:

In (15), mi;k is the mass of each part. Fi;k including gravity, actuator forces, friction forces, and so on, is the resultant force acting on each part. Ji;k is the inertia dyadic matrix of two parts relative to the center of mass in local frames. B. Dynamics of the Platform The platform is shown in the Fig. 3. The local frame of the platform is denoted as xp yp zp with its origin located at point Op : The platform and legs are connected at point Pi (i = 1; 2; 1 1 1 ; 6): Let rp;i be the position vector of Pi in xp yp zp ; and rG be the position vector of the gravity center G of platform (including the payload) in xp yp zp : Components of the angular and linear velocities of platform in X0 Y0 Z0 are used as generalized speeds

wi wi _

= [1323 = 0324

0321 ]

(8a) (8b)

where 1323 is a 3 2 3 unit matrix and 0324 is a 3 2 4 zero matrix. Referring to Fig. 2, the mass center velocities of two parts can be obtained as

i;1 = 0(Ri ri;1 ) 2 !i i;2


=

(9)

yp

= [!p;x

!p;y !p;z p;x p;y p;x ]T :

(16)

0[R (r
i

i;2

+ si )]

2!

+ Ri si _

(10)

where Ri is the transformation matrix from local frame to xi yi zi : The relative translational velocity between two parts is si = [si;x 0 0]T : _ _

Because the platform is a single rigid body, its dynamic equations can be written as follows, directly:

Ap yp _

Dp

(17)

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 16, NO. 1, FEBRUARY 2000

Fig. 4. Position and orientation of the platform.

where

Jp 0 mp 0 rG 0 rG mp 0 rG Ap = 0mp 0 rG mp1323 Mp 0 mp 0 rG 2 a 0 !p 2 0 Jp !p ^ Dp = Fp 0 mp a ^
0

where y

= [y1 1 1 1 y6 y ] ; and 8
T T

8 =
q

[u1

vp
. . .

T T

0]

111
.. .

is a constraint Jacobian.

0
. . .

00 v 00 v
. . .

0126

p;1

and

a = 0 ag + !p 2 (!p 2 0 rG ): ^
In the above equations, 0 rG = 0 Rp rG and 0 Jp = 0 Rp Jp (0 Rp )T where Jp is the inertia dyadic matrix of platform in xp yp zp : 0 Rp is the transformation matrix from xp yp zp to X0 Y0 Z0 : 0 ag is gravity acceleration in X0 Y0 Z0 : Fp and Mp are the resultant force and moment acting on the platform, respectively. C. Constraint Equations Considering the platform given by Fig. 1, six legs are connected to platform by spherical joint at points Pi (i = 1; 2; 1 1 1 ; 6): Because the velocities of leg i and platform at points Pi are the same, the velocity, partial velocity, and its derivative of point Pi in the ith leg can be written as follows:
i

1 1 1 [u6
q

vp

(28)

0] 0126

p;6

Similarly, we can derive the differentiation of (27) by (20), (23) and (26).

_ 8 y = 08 y: _
q

(29)

D. Dynamic Equations of the GoughStewart Platform By introducing Lagrange multipliers  and constraint equation (27), we can derive the dynamic equations of the GoughStewart platform from (15) and (17).

Ay + 8q T  = D _
where

(30)

p = 0[Ri (si + qi )] 2 !i + Ri si _ vp = [0Ri (si + qi ) ui ]

(18)

y = [y1 T 1 1 1 y6 T yp T ]T _ _ _ _ A = diag(A1 ; 1 1 1 ; A6 ; Ap ) T T T D = [D1 1 1 1 D6 Dp ]T :

(19)

vp = [Ri (si + qi ) 2 !i + Ri si !i ui ]: _ _ (20) Similarly, the velocity, partial velocity, and its derivative of point Pi in the platform are given by
i

p;i = 0 !p 2 (0 Ri rp;i ) + 0 p p;i = [00 Rp rp;i vp;i = [0( _


i

(21)

j 1323 ]
)2
0 !p

(22)

The dynamic equation (30) and constraint equation (27), which have 30 + 24 equations with 30 + 24 unknowns, constitute a set of differential algebraic equations (DAEs). There are many numerical integration algorithms about DAEs [14][20], such as constraint stabilization methods, methods based on penalty formulation, methods based on coordinate reduction, and so on. Among those methods, the Baumgarte stabilization method [15] is straightforward and numerically efficient. By using the Baumgarte stabilization method, the differential equations (30) are transformed into

0 Rp rp;i

j 0323 ]:

(23) where (24)

A 8q
q

y _ = D 

(31)

Combining (19) and (22), we can obtain

vp yi = vp;i yp ;
0

i = 1; 1 1 1 ; 6:

_ = 08q y 0 2 8q y 0 2 8:
In the above equation, and are appropriately chosen constants and usually equal to one another with values between 1 and 20. 8 represents the geometrical constraint with two parts. The first is that the position vectors of leg and platform at points Pi are identical in X0 Y0 Z0 : Secondly, the vector along one rotating axis of the universal joint is fixed in X0 Y0 Z0 : From the above derivations, it is apparent that no complicated symbolic computation is needed, and derivative evaluation can be

In addition, because legs are connected to the base with universal joint and no rotation is allowed about the leg axis, we have

[u [u

0]y = 0;
i i i T i

i = 1; 1 1 1 ; 6
i

(25) (26)

0]y = [u ! 0]y ; _ 8 y=0


q

i = 1; 1 1 1 ; 6:

The constraint equations can be derived from (24) and (25) (27)

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 16, NO. 1, FEBRUARY 2000

97

Fig. 5.

Linear and angular velocities of the platform.

Fig. 6. The length of legs.

Fig. 7.

Sliding velocities between two parts of legs.

accomplished by simple matrix multiplication in our approach. By introducing constraint equations, sophisticated velocities transformation between the joint-space and task-space is avoided. Therefore, the whole modeling process is simple, systematic, and can be easily implemented by computer programs.

IV. NUMERICAL SIMULATION In this paper, the dynamic formulation for the GoughStewart platform manipulator is implemented using MATLAB routines. The MATLAB routine ode45, which is based on the fourth- and

98

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 16, NO. 1, FEBRUARY 2000

fifth-order RungeKutta formulas with adaptive step-size, is used to solve the system of differential equations. A general architecture of the GoughStewart platform manipulator is presented in this section. The kinematic and dynamic parameters of the manipulator are given in the Appendix.  = [ ]T represents the orientation of the platform, which means the platform frame is rotated about the X -axis with degrees first, then about the Y -axis with degrees, and finally about the Z -axis with degrees. Initial conditions are assumed as

REFERENCES
[1] V. E. Gough and S. G. Whitehall, Universal type test machine, in Proc. 9th Int. Tech. Congress FISITA, 1962, pp. 117137. [2] D. Stewart, A platform with six degree-of-freedom, in Proc. Inst. Mech. Eng., vol. 180, 1965, pp. 371386. [3] Z. Geng, L. S. Haynes, J. D. Lee, and R. L. Carroll, On the dynamics model and kinematics analysis of a class of Stewart platform, Robot. Autonomous Syst., vol. 9, pp. 237254, 1992. [4] G. Lebret, K. Liu, and F. L. Lewis, Dynamic analysis and control of a Stewart platform manipulator, J. Robot. Syst., vol. 10, no. 5, pp. 629655, 1993. [5] W. Q. D. Do and D. C. H. Yang, Inverse dynamic analysis and simluation of a platform type of robot, J. Robot. Syst., vol. 5, no. 3, pp. 209227, 1998. [6] B. Dasgupta and T. S. Mruthyunjaya, Closed-form dynamic equations of the General Stewart platform through the NewtonEuler approach, Mech. Mach. Theory, vol. 33, no. 7, pp. 9931012, 1998. [7] B. Dasgupta and T. S. Mruthyunjaya, A NewtonEuler formulation for the inverse dynamics of the Stewart platform manipulator, Mech. Mach. Theory, vol. 33, no. 8, pp. 11351152, 1998. [8] C. D. Zhang and S. M. Song, An efficient method for the inverse dynamics of manipulators based on the virtual work principle, J. Robot. Syst., vol. 10, no. 5, pp. 605627, 1993. [9] J. Wang and C. M. Gosselin, A new approach for the dynamic analysis of parallel manipulators, Multibody Syst. Dyn., vol. 2, pp. 317334, 1998. [10] K. E. Zanganek, R. Sinatra, and J. Angeles, Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs, Robot, vol. 15, pp. 385394, 1997. [11] L. W. Tsai, Solving the inverse dynamics of parallel manipulators by the principle of virtual work, in 1998 ASME Design Eng. Tech. Conf. (DETC/MECH-5865), Sept. 1998, pp. 451457. [12] T. R. Kane and D. A. Levinson, Dynamics: Theory and Applications. New York: McGraw-Hill, 1985. [13] T. R. Kane and D. A. Levinson, Computational Methods in Multibody Dynamics. Englewood Cliffs, NJ: Prentice-Hall, 1992. [14] K. Brenan, S. Campbell, and L. Petzold, Numerical Solution of InitialValue Problems in Differential/Algebraic Equations. Philadelphia, PA: SIAM, 1995. [15] J. Baumgarte, Stabilization of constraints and integrals motion in dynamical systems, Comput. Methods Appl. Mech. Eng., vol. 1, pp. 116, 1972. [16] C. O. Chang and P. E. Nikravesh, An adaptive constraint violation stabilization method for dynamic analysis of mechanical systems, Trans. ASME J. Mech. Transm. Automat. Des., vol. 107, pp. 488492, 1985. [17] E. Bayo, J. G. Jalon, and M. A. Serna, A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems, Comput. Methods Appl. Mech. Eng., vol. 71, pp. 183195, 1988. [18] P. E. Nikravesh and E. J. Haug, Generalized coordinates partitioning for analysis of mechanical systems with nonholonomic constraints, Trans. ASME J. Mech. Transm. Automat. Des., vol. 105, pp. 384397, 1983. [19] N. K. Mani, E. J. Haug, and K. E. Atkinson, Application of singular value decomposition for analysis of mechanical systems dynamics, presented at the ASME Des. Eng. Technique Conf., Cambridge, MA, Oct. 710, 1984, ASME Paper 84-DET-89. [20] S. K. Ider and F. M. C. Amirouche, Coordinate reduction in the dynamics of constrained systemsA new approach, J. Appl. Mechanics, vol. 55, pp. 889904, 1988.

t0 = [0 0 = [0

0:2 0

T 0] m/s

3:0]

T m

!0 = [0

0 = [0
0

0:1

T 0] rad/s:

00:1]T rad

For the sake of simplicity, actuator forces at six legs are assumed as constant forces during the simulation and expressed as follows:

= [55:0

49:5

55:0

49:5

55:0

49:5]

T N:

The results of simulation during 1.0 s are shown as in Figs. 47. This example has been verified by the NewtonEuler approach. V. CONCLUSIONS In this article, an approach for the forward dynamic equations of the GoughStewart platform manipulator is proposed based on Kanes method. Compared to the NewtonEuler approach and the Lagrange formulation, our approach is more straightforward and systematical. The derivation process can be done automatically by computer, while the traditional derivation of the dynamic equations should be done manually because of the complicated velocity transformation between the joint-space and task-space. The procedure described in this paper can be applied to any type of parallel manipulators. APPENDIX Base points

b = [2 sin(2(i 0 1)=3 6 =12) 2 cos(2(i 0 1)=3 6 =12)


Platform points

0]

T;

i = 1 1 1 1 3:
T;

p = [sin((2i 0 1)=3 6 =12) i = 1 1 1 1 3: r1 = [0:4144


T

cos((2i

0 1)=3 6 =12)

3]

Centers of gravity of lower and upper parts of each leg (in local frame)
0 0]

r2 = [0:4144

0]

T:

Mass of lower and upper parts of each leg and platform (including payload)

m1 = 2 kg

m2 = 1 kg

mp = 10 kg:

Moments of inertia of lower and upper parts of each leg and platform (in local frames)

J1 = Jp =

0:1145

5:0

0:1145

J2 =

0:0537

0:0537

5:0

10:0

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