Publication detail

Complex Design of Stewart Platform Structure Based Parallel Mechanism

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

Original Title

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Type

journal article - other

Language

English

Original Abstract

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.

Keywords

parallel mechanism, Stewart platform, dynamics modeling, control

Authors

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

RIV year

2008

Released

14. 10. 2008

Publisher

EVaOL SjF TU v Košiciach

Location

Košice

ISBN

1335-2393

Periodical

Acta Mechanica Slovaca

Year of study

2008

Number

3-B

State

Slovak Republic

Pages from

83

Pages to

96

Pages count

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"
}