ADAMS-MATLAB co-simulation for kinematics, dynamics, and control of the Stewart-Gough platform

摘要

The mechanical structure known as Stewart-Gough platform is the most representative parallel robot with a wide variety of applications in many areas. Despite the intensive study on the kinematics, dynamics, and control of the Stewart-Gough platform, many details about these topics are still a challenging problem. In this work, the use of automatic dynamic analysis of multibody systems software for the kinematic and dynamic analysis of the Stewart-Gough platform is proposed. Moreover, a co-simulation automatic dynamic analysis of multibody systems (ADAMS)-MATLAB is developed for motion control of the Stewart-Gough platform end-effector. This computational approach allows the numerical solution for the kinematics, dynamics, and motion control of the Stewart-Gough platform and a considerable reduction on the analytical and programming effort. The obtained results in the three topics (kinematics, dynamics, and control) are validated by comparing them with analytical results reported in the literature. This kind of computational approach allows for the creation of virtual prototypes and saves time and resources in the development of Stewart-Gough platform-based robots applications.