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

English Title

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Type

journal article

Language

en

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.

English 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

RIV year

2008

Released

14.10.2008

Publisher

EVaOL SjF TU v Košiciach

Location

Košice

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",
  annote="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.",
  address="EVaOL SjF TU v Košiciach",
  chapter="49660",
  institution="EVaOL SjF TU v Košiciach",
  journal="Acta Mechanica Slovaca",
  number="3-B",
  volume="2008",
  year="2008",
  month="october",
  pages="83--96",
  publisher="EVaOL SjF TU v Košiciach",
  type="journal article"
}