Papers by Keyword: Stewart Platform

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Authors: Piotr Ociepka, Wacław Banaś, Krzysztof Herbuś, Gabriel Kost
Abstract: This paper presents the results of the project conducted by the authors, which purpose was to build the simulator for teaching the disabled persons driving a car. This paper presents also the functional design requirements established for the project. The structure of the mechatronic system, basing on which the simulator was built, is also presented. It was also described the details of each subsystem of the simulator and its possibilities and the method of its functioning.
Authors: Yi Cao, Hui Zhou, Bao Kun Li, Shen Long, Meng Si Liu
Abstract: This paper mainly addresses the principle of the singularity elimination of the Stewart parallel platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the parallel platform is always full, accordingly the singular value of the Jacobian matrix of the parallel platform is nonzero. Then the singular configuration of the parallel platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle’s effectiveness. It is shown that not only singular configurations of the Stewart parallel platform can be eliminated, but also performances of kinematics and dynamics of the parallel platform can be greatly perfected by adding appropriate redundant actuation.
Authors: Lukas Březina, Tomáš Březina
Abstract: The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes regarding H-infinity controller designed according to the obtained model.
Authors: Rui Ren, Chang Chun Ye, Guo Bin Fan
Abstract: Being relatively new to the field, electromechanical actuators of Stewart platform in vibration control and motion simulation applications lack the knowledge base compared to ones accumulated for the other actuator types, especially when it comes to characterization and system identification. This paper focuses in the modeling of an electromechanical linear actuator to be used in a heavy load six-degrees-of-freedom platform application intended for motion control technology. The paper keeps the main kinematic and dynamic parameters unaffected, ignoring others. After obtaining the structure of model, parameters is derived by system identification. Provides a comparison of output of real system and simplified model by same input signal, the experimental result shows that the method is accurate and have good ability.
Authors: Yuan Feng Li, Wan Xin Zhang
Abstract: Stewart platform is a typical parallel manipulator, which is equipped with rigidity, high positioning accuracy and other advantages. To achieve wonderful fit of the spacesuit upper torso, the Stewart platform is applied in the upper torso fit design, by which the upper torso active fit design method is proposed. The mathematical model and the experimental model are established to study the validly of the fit design method. The results verify that the application of Stewart platform in the fit design of spacesuit upper torso is feasible. The research in this paper provides useful guide for the fit design of the spacesuit in the future
Authors: Andrzej Dymarek, Tomasz Dzitkowski, Krzysztof Herbuś, Gabriel Kost, Piotr Ociepka
Abstract: This work presents ideas for a passenger car driving simulator for teaching the disabled. The functional structure, design assumptions, and the concept and operation of the proposed simulator are presented.
Authors: Xiao Jun Yang, Guo Li Sun, Bing Li
Abstract: In this paper, the vibration modeling and analysis of Stewart platform-based machine tool is presented. The vibration modeling includes the derivation of the vibration equation and the detailed processes to deal with that. Each of the kinematic chains is considered as a flexible chain and simplified into a spring-damper submodel. Vibration modeling of the machine tool is established by Newton-Euler approach. Then, the natural frequencies of the moving platform are obtained based on the vibration equation by the aid of MATLAB. The vibration characteristics of the machine tool are analyzed and discussed by means of the numerical examples considering the different poses of the moving platform. The conclusion can be drawn that the natural frequencies of the platform are influenced by the poses of the platform.
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