A Fast Algorithm for Solving Inverse dynamics of Hexapod Motion System Using Reduced Order Dynamic Model

The authors implemented a reduced order dynamic model using Newton-Euler approach for real-time calculation of forces exerted on actuators in a haxapod motion system of a motion simulator. The equations of motion of the platform are derived in a general context neglecting legs inertia and joint frictions. Cinematic results such as lengths and extension rates of actuators are obtained from the procedure of force calculation. Required linear and angular velocities can be obtained from embedded platform sensors. The algorithm is tested for a sample simulator with typiical motion data by using MATLAB and SIMULINK resources. The simulation results are verified by an equivalent model built in NASTRAN.

کلیدواژه ها:

Hexapod ، Inverse Dynamics ، Reduced order Model