Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

More documents

Recommendations

Info

Figure 1.2 – Schematic of Stewart Platform (Proc. IMechE, 1965-66) Figure 1.3 – Excerpt from the first patent on an octahedral hexapod issued in 1967 (US patent No. 3,295,224). 2
Figure 1.4 - The first flight simulator based on an octahedral hexapod (courtesy of Klaus Cappel) In general, parallel manipulators provide superior precision, robustness, stiffness and load capacity in excess of workspace, in contrast to conventional serial manipulators. In various tasks, parallel manipulators are used as vehicle simulators, high-precision machine tools, torque/force sensors, industrial robots and alike. They are also used for laser/camera/antenna positioning, ophthalmic surgery, et cetera. With the accumulation of the knowledge in this area, the areas of application for the parallel manipulators are growing rapidly. In a sense, walking machines with many legs are parallel manipulators such that, the feet touching the ground can be idealized as spherical joints and the body as the moving platform. The most common type of parallel structure is the six degree of freedom (DOF) Stewart-Gough Platform. Many researchers proposed different designs, along with many different techniques and methods to solve the problems of kinematics [2-9], dynamics [10-15] control [16-21], design [22] and optimization [23-26]. As indicated, much research has been done on the problem of forward kinematics. In contrast to serial manipulators, forward kinematics of a parallel manipulator is very hard to solve. Although closed form/analytical solutions are obtained for simpler parallel manipulators [27], numerical techniques are generally being used for their spatial counterparts. This complexity is due to the highly non-linear nature of equations governing 3
Page 1 and 2: Kinematic and Dynamic Analysis of S
Page 3 and 4: Research is what I'm doing when I d
Page 5 and 6: ÖZ Bu tez yeni bir tip uzaysal alt
Page 7 and 8: Chapter 4 KINEMATIC ANALYSIS ......
Page 9 and 10: Figure 4.15 - Comparison of results
Page 11: Chapter 1 INTRODUCTION The introduc
Page 15 and 16: Generally, the actuators of a seria
Page 17 and 18: −1 where J = J q J x . . . q = J
Page 19 and 20: Chapter 2 SCREW KINEMATICS In this
Page 21 and 22: From equation (2.6) we have; or x z
Page 23 and 24: Using (2.7) and (2.12), one can fin
Page 25 and 26: LP + MQ + NR = 0 L 1 2 2 + M 2 1 LP
Page 27 and 28: Following Crammer’s method, the u
Page 29 and 30: That’s, the variable angle α ki
Page 31 and 32: ~ ~ ~ ~ ~ ~ Let Ei ( Li , M i, Ni )
Page 33 and 34: Qk = (NiPj + LjRi - LiRj - NjPi - a
Page 35 and 36: The methods reported by F. Freudens
Page 37 and 38: Using equations (3.4) and (3.6), we
Page 39 and 40: Order of a structural group is the
Page 41 and 42: 3.3 Geometrical Structural Synthesi
Page 43 and 44: 3.4 Kinematic Structural Synthesis
Page 45 and 46: Let’s consider a 5 DOF parallel m
Page 47 and 48: Chapter 4 KINEMATIC ANALYSIS Kinema
Page 49 and 50: Figure 4.1 - The six degree of free
Page 51 and 52: v v v P4 = yv N 4 − zv M 4 v v v
Page 53 and 54: The best way of visualizing the dis
Page 55 and 56: 4.2.2 Results for the Actuation of
Page 63 and 64:
Figure 4.17 - Corresponding piston
Page 65 and 66:
Chapter 5 DYNAMIC ANALYSIS Dynamics
Page 67 and 68:
Thus, according to Lagrange, the re
Page 69 and 70:
J is the 6x6 Jacobian matrix that
Page 71 and 72:
Chapter 6 DISCUSSION AND CONCLUSION
Page 73 and 74:
REFERENCES [1] D. Stewart, A platfo
Page 75 and 76:
[19] Seung-Bok Choi, Dong-Won Park,
Page 77 and 78:
[38] Kotelnikov A. P., Screw calcul
Page 79 and 80:
[60] R. I. Alizade, Investigation o
Page 81 and 82:
A.1.1 CASSoM Source Code Like all v
Page 83 and 84:
in the 'Input Parameters' section.
Page 85 and 86:
pty:=roy+dy; ptz:=roz+dz; end; func
Page 87 and 88:
Figure A.2 - a Screenshot of iMIDAS
Page 89 and 90:
APPENDIX B RECURSIVE SYMBOLIC CALCU
Page 91 and 92:
PP := L1 ← 0 M1 ← 0 N1 ← 1 L2
Page 93 and 94:
Preleminary function definitions In
Page 95 and 96:
C.2 Visual NASTRAN Desktop NASTRAN
show all

Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

Create successful ePaper yourself

Delete template?

Save as template?