Wyniki wyszukiwania - BazTech

1

Solution of inverse dynamics of Stewart–Gough platform using substructure technique

Tien Tran Xuan, Cirkl David

Journal of Theoretical and Applied Mechanics

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2021

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Vol. 59 nr 3

329--342

EN

The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.

2

Realization, programming and controlling of the stewart-gough platform

Owoc Dawid, Ludwiczak Krzysztof, Piotrowski Robert

Journal of Automation Mobile Robotics and Intelligent Systems

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2020

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Vol. 14, No. 2

10--14

EN

This paper presents realization, programming, and controlling of a low cost Stewart‐Gough platform (SGP) with rotary actuators. The realized SGP is applied in a ball & plate control system. Developed dedicated soft ware consists of embedded and application software for both the SGP positioning system and the ball & plate control system. A ball position is being obtained using com‐ puter vision. The paper contains tests results for both an SGP positioning accuracy and a control quality of the ball & plate control system.

3

Wykonanie i sterowanie platformą Stewarta-Gougha

Dolny K., Wiszniewski M., Piotrowski R.

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

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2016

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Nr 51

41--44

PL

Platforma Stewarta-Gougha, wynaleziona w 1965 roku, nadal jest popularnym tematem prac inżynierskich i naukowych. Publikacje dotyczą przede wszystkim kinematyki, dynamiki i projektowania platformy. Oryginalna wersja platformy opierała się na siłownikach hydraulicznych. Obecnie coraz częściej są one zastępowane serwomechanizmami. Dzięki temu zwiększono dynamikę górnej platformy. Platforma Stewarta-Gougha z powodzeniem znajduje zastosowanie w różnego rodzaju symulatorach. Dzięki sześciu stopniom swobody jest w stanie symulować ruch pojazdu lub samolotu.

EN

Stewart-Gough platform, invented in 1965, is still a popular topic for engineering and scientific applications. Publications relate primarily to kinematics, dynamics and design platform. The original version of the platform based on the hydraulic cylinders. Today they are replaced by electric servomotors. Thereby the potential of the increase platform dynamics. Stewart-Gough platform successfully used in various types of simulators. With six degrees of freedom it is able to simulate the movement of a vehicle or aircraft.

4

PID controllers design applied to positioning of ball on the Stewart platform

Koszewnik A., Troc K., Słowik M.

Acta Mechanica et Automatica

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2014

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Vol. 8, no. 4

214--218

EN

The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy) are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand.