| Summary: | 碩士 === 中華工學院 === 航空太空工程研究所 === 85 === This research has investigated the kinematics equations of
a three-leg Stewart platform, which include forward kinematics,
inverse kinematics and velocity kinematics. In the meantime, we
perform the mathematical model and hardware-in-the-loop
simulation and verification on PC very successfully. In the
future, we will accomplish the dynamic analysis and simulation
of platform. Furthermore, the capability of the payload and
angular rate will be enhanced and evaluated for the possibility
to modify or rebuild the system. In addition, we analyze the
phenomenon of the singularity with mathematical model.
Hardware-in-the-loop (HIL) simulation is a real-time simulation
by using platform real body instead of forward kinematics
mathematical model. Through HIL simulation, all the platform
dynamic response can be simulated and verified. In this
thesis, we not only derive the kinematics equation, but also
accomplish all the algorithm and I/O driver by using C++ program
on PC.
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