Detail publikace

Complex Design of Stewart Platform Structure Based Parallel Mechanism

BŘEZINA, T. HOUŠKA, P. BŘEZINA, L. ANDRŠ, O.

Originální název

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

The article deals with the complex design of Stewart platform structure based parallel mechanism and design of its control as well. The first part of the article briefly describes engineering design of the mechanism which is based on time proven conception with the linear actuator connected to the base plate by U joint and to the top plate by spherical joint. Also linear actuator design is described. The second part deals with creating of mechanism dynamics model in Matlab SimMechanics. Principles of model linearization and obtaining of the mechanism state space model, for later control design, are described. The last part describes the control design which is based on idea of two layer control. The controllers have relatively simple linear structure and allow us to tune eigenvalues of the controlling device. It can be said that presented approach is quite complex and seems to be suitable for modeling and control design of complicated mechanisms.

Klíčová slova

parallel mechanism, Stewart platform, dynamics modeling, control

Autoři

BŘEZINA, T.; HOUŠKA, P.; BŘEZINA, L.; ANDRŠ, O.

Rok RIV

2008

Vydáno

14. 10. 2008

Nakladatel

EVaOL SjF TU v Košiciach

Místo

Košice

ISSN

1335-2393

Periodikum

Acta Mechanica Slovaca

Ročník

2008

Číslo

3-B

Stát

Slovenská republika

Strany od

83

Strany do

96

Strany počet

14

BibTex

@article{BUT49660,
  author="Tomáš {Březina} and Pavel {Houška} and Lukáš {Březina} and Ondřej {Andrš}",
  title="Complex Design of Stewart Platform Structure Based Parallel Mechanism",
  journal="Acta Mechanica Slovaca",
  year="2008",
  volume="2008",
  number="3-B",
  pages="83--96",
  issn="1335-2393"
}