Detail publikace

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Originální název

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Anglický název

Complex Design of Stewart Platform Structure Based Parallel Mechanism

Jazyk

en

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.

Anglický 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.

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 - other"
}