A novel derivation of the forward dynamic equations for the Gough-Stewart platform manipulator based on Kane's equation is proposed. In this method, each leg of the Gough-Stewart platform manipulator is treated as an 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 Newton-Euler method and Lagrange formulation, the modeling process proposed in the paper is more straightforward and systematic, and the final dynamic equations are very concise.
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Liu et al. (2000) studied this question.
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