電腦輔助設計在史都渥平台之應用

• Main Author: 何文恩
• Other Authors: 范志海
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/07913888725217273975

碩士 === 中華大學 === 航空太空工程學系 === 86 === 　　This paper is to investigate a parallel six-leg mechanism, which is known　as the Stewart platform. We analyze its motional behavior, determine its workspace, represent its complex movements by using computer multimedia, and find the actuating forces for each of the six hydralic actuators. 　　The inverse kinematics and forward kinematics are used to investignte its motional behavior The space constraints of the platform are determined by the workspace, when the real time simulation is proceeded. The projecting process and coordinates transformation are needed to represent the movements of the platform. By using the computer software, the movements can be represented consecutively. In addition, the results from kinematic and dynamic analysis are also shown on the screen. The Newton-Euler equations of motion are used to derive the actuating force for platform inverse dynamic analysis. The number of these dynamic equaions can be reduced to six, if a proper sequence is followed. 　　This paper represents the algorithm and computer simulations for the kinematic and dynamic analy is. The computer program will be applied on the Stewart pla form, after the hardware device is established The results from the computer simulation and those from the harware inthe loop experiment will be compared.