Öz
Kaynakça
- Huang, C. I. and Chang, C.F. and Chen Fu, C. (1988),“Sliding-Mode Tracking Control of the Stewart Platform”, Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan, R.O.C, Vol. 4, No. 3, PP354-360.
- Kumar S.G. and Bikshapathi, M. (2007), “Stiffness Analysis And kinematic Modeling of Stewart platform for Machine applications”, Department of Mechanical Engineering, IIT Madras, Chennai, India.
- Sanaei, H. and dalaliyan, P. and Giasi, A. R. (2014), “Kinematic and Jocobian Analysis of a Stewart Mechanism with Pneumatic Actuators”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
- Singh, k. and Dixon, R. and Pearson, J. (2012), “LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform”, International Journal of Automation and Computing, 9 February, pp45-53.
- Chin, J.H.and Suna, Y.H. and Chengb, Y.M. (2011),” Force Computation and Continuous Path Racking for Hydraulic Parallel Manipulators”, Rome, Italy.
- Sanaei, H. and Dalaliyan, P. and Giasi, A. R. (2014), “Sliding Mode Control Design for Stewart Mechanism”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
Study of Kinematic, Dynamic and Jocobian Analysis of Electro- pneumatic Stewart Parallel Robot (6dof) and Provide a Comprehensive Stat- Space Models for Control Purposes
Öz
Abstract. In recent years, parallel robots have become the focus of research since, as compared with similar serial robots, these robots possess many superior features. Upon a brief introduction of the Stewart parallel robot as a robot with the most industrial applications, its many advantages over similar serial robots were studied and a complete kinematic and dynamic analysis of this robot presented. Subsequently, to obtain an integrated system for control applications, a comprehensive model of this robot’s state- space was introduced through formulating the explicit governing equations for the Stewart system and its associated drive/actuator system.
Anahtar Kelimeler
Stewart Parallel Robot Kinematics Dynamics Jacobian Analysis State- Space Model
Kaynakça
- Huang, C. I. and Chang, C.F. and Chen Fu, C. (1988),“Sliding-Mode Tracking Control of the Stewart Platform”, Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan, R.O.C, Vol. 4, No. 3, PP354-360.
- Kumar S.G. and Bikshapathi, M. (2007), “Stiffness Analysis And kinematic Modeling of Stewart platform for Machine applications”, Department of Mechanical Engineering, IIT Madras, Chennai, India.
- Sanaei, H. and dalaliyan, P. and Giasi, A. R. (2014), “Kinematic and Jocobian Analysis of a Stewart Mechanism with Pneumatic Actuators”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
- Singh, k. and Dixon, R. and Pearson, J. (2012), “LQG Controller Design Applied to a Pneumatic Stewart-Gough Platform”, International Journal of Automation and Computing, 9 February, pp45-53.
- Chin, J.H.and Suna, Y.H. and Chengb, Y.M. (2011),” Force Computation and Continuous Path Racking for Hydraulic Parallel Manipulators”, Rome, Italy.
- Sanaei, H. and Dalaliyan, P. and Giasi, A. R. (2014), “Sliding Mode Control Design for Stewart Mechanism”, Proc of the 6th International Conf on Electrical Engineering, Gonabad, (in Persian).
Ayrıntılar
| Bölüm | Derleme |
|---|---|
| Yazarlar | |
| Yayımlanma Tarihi | 13 Mayıs 2015 |
| Yayımlandığı Sayı | Yıl 2015 Cilt: 36 Sayı: 3 |