| Summary: | 碩士 === 逢甲大學 === 自動控制工程所 === 90 === The Stewart Platform has been successfully applied to flight simulators, machining tools and game stations. Complex system modeling is always the major problem when dealing with Stewart Platform. The purpose of this research is to formulate kinematics and dynamics of the Stewart Platform in order to control the platform with more accuracy.
A dynamic formulation for multi-body systems, based on Lagrange’s Equations in
terms of quasi-coordinates, has been developed to apply on modeling the motion of
equations of general legged systems. This research takes apart the Stewart Platform to six independent single chain robots first, and formulates the motion of equations in terms of quasi-coordinate. Combination of the equations becomes the global Stewart Platform finally.
The Stewart Platform is based on three fixed parallel rails, with the upper platform
driven by linear motors on the rails. The advantages of this structure is six
degree-of-freedom with high payload and high accuracy. It is necessary to formulate the
dynamic models for higher accuracy of this system.
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