The Research on Mechanism Design and Control Simulation of the Stewart Platform

• Main Author: 李岳儒
• Other Authors: 林南州
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/10257216600824327009

碩士 === 逢甲大學 === 自動控制工程學系 === 88 === Among the mechanisms for high degree-of-freedom motion, Stewart Platform has specific advantages, such as high force-to-weight ratio, high position accuracy and the motion of 6 DOF. So more and more researchers invest in Stewart Platform. The purpose of this research is to develop a six-axis dynamic platform driven by the linear motor. First we have to choose adaptive mechanism and correlation component, as far as the performance of the linear motor and the requirements of the platform target the request performance of the platform and the basic size of the mechanism. And according to the request performance to choose most adaptive mechanism and correlation component. Second we process the analysis of the mechanism, including deriving the forward/inverse kinematics, workspace, and motion-planning etc. By planning the motion of the upper platform, we can use the inverse kinematics to discuss the change of the linear motor’s position. In analysis of the singularity, we use the Plucker coordinate to discuss the possible singular position. Finally we planning the upper platform with a linear motion, and we choose a linear motor to simulation the platform’s control.