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2 2024

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Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform

Phan Khoi Bui, Ha Hung Huy, Hoang Chinh Quang, Nguyen Quan Dinh, Ha Hai Thanh

Journal of Machine Engineering

2024

Vol. 24, No. 4

75--92

This paper investigates a dual-stage Gough-Stewart platform. The lower platform is responsible for simulating the oscillations of moving vehicles such as cars, ships, and airplanes. The upper platform is connected to devices that require either balance stabilization or motion stabilization according to specific requirements. The dynamic model of the robot system is derived in a general form based on the Lagrange equations of motion with Lagrange multipliers. Using these equations in a compact form, a PD controller with forces compensation in task space is designed for the robot system. Oscillation generation and balance stabilization are computed and simulated using the kinematic and dynamic parameters of two Bosch Rexroth robots. The computation and simulation results demonstrate the dynamic model's accuracy and the controller's effectiveness.

Kinematic synthesis of the Gough-Stewart platform in ADAMS and MATLAB

Sapietová Alžbeta, Dekýš Vladimír, Mikolaj Dušan, Sapieta Milan

Journal of Applied Mathematics and Computational Mechanics

2024

Vol. 23, nr 3

86--96

In this paper, the kinematic synthesis of a parallel Gough-Stewart platform mechanism is addressed in order to achieve the motion of the working part of the mechanism along a prescribed trajectory. A virtual prototype of this platform was created in the environment of the dynamics of systems bodies program ADAMS. In the process of cosimulation of MATLAB, MATLAB/Simulink and ADAMS, the input trajectories of actuator velocities necessary to achieve the desired motion of the effector point were identified. The trajectory was defined by parametric equations for the epitrochoid, hypocycloid, epicycloid and Archimedes spiral. The velocities of the actuators were derived by deriving the position vector of the distances between the base and platform points. The solution logic using the given software is presented by a block diagram.